Ros2TwistMessageImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2TwistMessageImpl

class Ros2TwistMessageImpl : public isaacsim::ros2::bridge::Ros2TwistMessage, private isaacsim::ros2::bridge::Ros2MessageInterfaceImpl

Implementation of ROS 2 Twist message.

Handles the creation and manipulation of geometry_msgs/msg/Twist messages, which contain linear and angular velocity data.

Public Functions

Ros2TwistMessageImpl()

virtual ~Ros2TwistMessageImpl()

virtual const void *getTypeSupportHandle()

Gets the type support handle for the message.

Returns a pointer to the ROS IDL message type support data structure. The actual type depends on the message category:

• Topic: rosidl_message_type_support_t

• Service: rosidl_service_type_support_t

• Action: rosidl_action_type_support_t

Returns:

Pointer to the type support structure or nullptr.

virtual void readData(

pxr::GfVec3d &linearVelocity,

pxr::GfVec3d &angularVelocity,

)

Reads the twist message data.

Parameters:

• linearVelocity – [out] Linear velocity vector

• angularVelocity – [out] Angular velocity vector

inline void *getPtr()

Retrieves the message pointer.

Returns the pointer to the underlying ROS 2 message if it has been properly created and initialized.

Note

This method does not perform type checking - the caller is responsible for proper casting to the appropriate message type.

Returns:

Pointer to the message or nullptr if not initialized.

Protected Attributes

void *m_msg = nullptr

Message pointer.