Ros2Client#

Fully qualified name: isaacsim::ros2::bridge::Ros2Client

class Ros2Client#

Base class for ROS 2 service clients.

Provides the interface for implementing ROS 2 service clients. Service clients send requests and receive responses in a request-response pattern.

Public Functions

virtual bool sendRequest(void *requestMsg) = 0#

Sends a request to a service.

Sends the provided request message to the associated service server.

Note

This method does not wait for a response. Use takeResponse() to retrieve the response.

Parameters:: requestMsg – [in] Pointer to the request message to send.
Returns:: True if the request was sent successfully, false otherwise.
Pre:: The requestMsg pointer must point to a valid request message structure of the correct type.
Pre:: The service client must be valid (check with isValid()).

virtual bool takeResponse(void *responseMsg) = 0#

Retrieves the response to a service request.

Checks for and retrieves the response to a previously sent request. If a response is available, it is copied into the provided message structure.

Parameters:: responseMsg – [out] Pointer to store the received response message.
Returns:: True if a response was received, false otherwise.
Pre:: The responseMsg pointer must point to a valid response message structure of the correct type.
Pre:: The service client must have previously sent a request via sendRequest().
Pre:: The service client must be valid (check with isValid()).

virtual bool isValid() = 0#

Checks whether the service client is valid.

Verifies if the object holds a properly initialized ROS 2 service client instance.

Note

A service client may become invalid if its associated node or context is destroyed.