Ros2BufferCore#

Fully qualified name: isaacsim::ros2::tf_viewer::Ros2BufferCore

class Ros2BufferCore#

Class that partially implements a tf2 BufferCore.

This abstract class provides an interface for tf2 buffer operations such as setting transforms, retrieving transforms, and querying frame information. It serves as a compatibility layer for working with ROS 2 tf2 functionality.

Subclassed by isaacsim::ros2::tf_viewer::Ros2BufferCoreImpl

Public Functions

virtual bool setTransform(
void *msg,
const std::string &authority,
bool isStatic,
) = 0#

Adds a transform information to the buffer.

This function takes a ROS TFMessage and stores the transform information in the buffer for later retrieval.

Parameters:

  • msg – [in] TFMessage message pointer.

  • authority – [in] The source of the information for the transform.

  • isStatic – [in] Whether to record the transform as static (the transform will be good across all time).

Returns:

Whether the transform has been added successfully.

virtual bool getTransform(
const std::string &targetFrame,
const std::string &sourceFrame,
double translation[],
double rotation[],
) = 0#

Gets the transform between two frames at the ROS zero time.

Calculates and retrieves the coordinate transformation between two frames in the tf tree at the ROS zero time.

Parameters:

  • targetFrame – [in] Frame ID to which data should be transformed.

  • sourceFrame – [in] Frame ID where the data originated.

  • translation – [out] Buffer to store the Cartesian translation. Buffer length should be 3.

  • rotation – [out] Buffer to store the rotation (as quaternion: xyzw). Buffer length should be 4.

Returns:

Whether the transform has been computed without exceptions.

virtual bool getParentFrame(
const std::string &frame,
std::string &parentFrame,
) = 0#

Gets the parent frame of the specified frame at the ROS zero time.

Retrieves the parent frame ID for a given frame in the tf tree.

Parameters:

  • frame – [in] Frame ID to search for.

  • parentFrame – [out] Reference in which the parent frame ID will be stored.

Returns:

True if a parent exists, false otherwise.

virtual std::vector<std::string> getFrames() = 0#

Gets the available frame IDs.

Retrieves a list of all frame IDs currently available in the tf tree.

Returns:

A list of available frame IDs.

virtual void clear() = 0#

Clears all buffer data.

Removes all transformations and frames from the buffer.