Ros2Message

Fully qualified name: isaacsim::ros2::bridge::Ros2Message

class Ros2Message

Base class for all ROS 2 message encapsulations.

Provides the foundation for ROS 2 message handling with basic functionality for message pointer management and type support.

Subclassed by isaacsim::ros2::bridge::Ros2AckermannDriveStampedMessage, isaacsim::ros2::bridge::Ros2BoundingBox2DMessage, isaacsim::ros2::bridge::Ros2BoundingBox3DMessage, isaacsim::ros2::bridge::Ros2CameraInfoMessage, isaacsim::ros2::bridge::Ros2ClockMessage, isaacsim::ros2::bridge::Ros2DynamicMessage, isaacsim::ros2::bridge::Ros2ImageMessage, isaacsim::ros2::bridge::Ros2ImuMessage, isaacsim::ros2::bridge::Ros2JointStateMessage, isaacsim::ros2::bridge::Ros2LaserScanMessage, isaacsim::ros2::bridge::Ros2NitrosBridgeImageMessage, isaacsim::ros2::bridge::Ros2OdometryMessage, isaacsim::ros2::bridge::Ros2PointCloudMessage, isaacsim::ros2::bridge::Ros2RawTfTreeMessage, isaacsim::ros2::bridge::Ros2SemanticLabelMessage, isaacsim::ros2::bridge::Ros2TfTreeMessage, isaacsim::ros2::bridge::Ros2TwistMessage

Public Functions

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.