Ros2ImageMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2ImageMessage

class Ros2ImageMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a sensor_msgs/msg/Image message.

Provides functionality to write ROS 2 Image messages that contain image data with specified encoding and dimensions.

Subclassed by isaacsim::ros2::bridge::Ros2ImageMessageImpl

Public Functions

virtual void writeHeader(

const double timeStamp,

const std::string &frameId,

) = 0

Write the message header.

Sets the header fields in a ROS 2 Image message.

Parameters:

• timeStamp – [in] Time (seconds).

• frameId – [in] Transform frame with which this data is associated.

virtual void generateBuffer(

const uint32_t height,

const uint32_t width,

const std::string &encoding,

) = 0

Generate the buffer (matrix data) according to the image metadata.

It allocates memory for the data field, and computes and fills in the values of the other message fields.

Parameters:

• height – [in] Image height.

• width – [in] Image width.

• encoding – [in] Encoding of pixels.

inline void *getBufferPtr()

Get the pointer to the buffer (matrix data).

Provides direct access to the underlying buffer containing the image data.

Returns:

Pointer to the buffer.

inline size_t getTotalBytes()

Get the total size (step * height) of the buffer, in bytes.

Returns the total size of the image buffer in bytes.

Returns:

Buffer size.

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.

virtual const void *getTypeSupportHandle() = 0

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.

Protected Attributes

std::vector<uint8_t> m_buffer

Buffer (matrix data).

size_t m_totalBytes = 0

Buffer size.

void *m_msg = nullptr

Message pointer.