Ros2ImuMessage#

Fully qualified name: isaacsim::ros2::bridge::Ros2ImuMessage

class Ros2ImuMessage : public isaacsim::ros2::bridge::Ros2Message#

Class implementing a sensor_msgs/msg/Imu message.

Provides functionality to write ROS 2 IMU messages that contain orientation, angular velocity, and linear acceleration data.

Subclassed by isaacsim::ros2::bridge::Ros2ImuMessageImpl

Public Functions

virtual void writeHeader(double timeStamp, std::string &frameId) = 0#

Write the message header.

Sets the header fields in a ROS 2 IMU message.

Parameters:

  • timeStamp – [in] Time (seconds).

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

virtual void writeAcceleration(
bool covariance = false,
const std::vector<double> &acceleration = std::vector<double>(),
) = 0#

Write the linear_acceleration or its covariance.

Sets the linear acceleration values or marks the covariance as unknown in a ROS 2 IMU message.

Parameters:

  • covariance – [in] If true, only the element 0 of the associated covariance matrix will be written to -1, not the acceleration (regardless of its value). If false, the acceleration values will be written.

  • acceleration – [in] Linear acceleration.

virtual void writeVelocity(
bool covariance = false,
const std::vector<double> &velocity = std::vector<double>(),
) = 0#

Write the angular_velocity or its covariance.

Sets the angular velocity values or marks the covariance as unknown in a ROS 2 IMU message.

Parameters:

  • covariance – [in] If true, only the element 0 of the associated covariance matrix will be written to -1, not the velocity (regardless of its value). If false, the velocity values will be written.

  • velocity – [in] Angular velocity.

virtual void writeOrientation(
bool covariance = false,
const std::vector<double> &orientation = std::vector<double>(),
) = 0#

Write the orientation or its covariance.

Sets the orientation values or marks the covariance as unknown in a ROS 2 IMU message.

Parameters:

  • covariance – [in] If true, only the element 0 of the associated covariance matrix will be written to -1, not the orientation (regardless of its value). If false, the orientation values will be written.

  • orientation – [in] Orientation.

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

void *m_msg = nullptr#

Message pointer.