Ros2Bridge

Fully qualified name: isaacsim::ros2::bridge::Ros2Bridge

struct Ros2Bridge

ROS 2 bridge interface.

Public Members

uint64_t const (*getDefaultContextHandleAddr)()

Get the memory address of a Ros2ContextHandle shared pointer object.

The Ros2ContextHandle object encapsulates a rcl_context_t (non-global state of an init/shutdown cycle) instance used in the creation of ROS 2 nodes and other entities.

Return:

Context handler memory address as 64-bit unsigned integer.

Ros2Factory *const (*getFactory)()

Get the factory instance for creating ROS 2 related functions/objects according to the sourced ROS 2 distribution.

See Ros2Factory for more details about the list of ROS 2 related functions/objects that can be created.

Return:

A pointer to the factory instance.

bool const (*getStartupStatus)()

Check if both the factory and the context handler have been instantiated.

Both, the factory (Ros2Factory) and the handler (Ros2ContextHandle) objects are created the first time the Ros2Bridge interface is acquired after the plugin is loaded by the isaacsim.ros2.bridge extension.

Return:

Whether the factory and the context handler have been successfully instantiated.