Ros2MessageInterface#

Fully qualified name: isaacsim::ros2::bridge::Ros2MessageInterface

class Ros2MessageInterface#

Base class for ROS 2 message definition/generation via ROS Interface Definition Language (IDL).

Provides facilities for dynamically loading and creating ROS 2 message types using the ROS IDL mechanism. This class handles the loading of message type libraries and creation/destruction of message instances.

Subclassed by isaacsim::ros2::bridge::Ros2MessageInterfaceImpl

Public Functions

inline Ros2MessageInterface( std::string pkgName, std::string msgSubfolder, std::string msgName, BackendMessageType messageType = BackendMessageType::eMessage, bool showLoadingError = false, )#

Constructor for Ros2MessageInterface.

Initializes the message interface by loading the required ROS IDL libraries for the specified message type.

Note

The full message type is constructed as pkgName/msgSubfolder/msgName.

Parameters:

pkgName – [in] Message package name (e.g.: "std_msgs" for std_msgs/msg/Int32).
msgSubfolder – [in] Message subfolder name (e.g.: "msg" for std_msgs/msg/Int32).
msgName – [in] Message name (e.g.: "Int32" for std_msgs/msg/Int32).
messageType – [in] Message type specification.
showLoadingError – [in] Whether to print ROS IDL libraries load errors to the console.

inline void *getTypeSupportHandleDynamic()#

Gets the pointer to the struct containing ROS IDL message type support data.

Retrieves a pointer to the ROS IDL type support structure for the message. The pointer points to a ROS IDL struct if the message is found. It is resolved by calling the rosidl_typesupport_c type support handle symbol for the given message name.

Message type	ROS IDL struct
Topic (Message)	`rosidl_message_type_support_t`
Service	`rosidl_service_type_support_t`
Action	`rosidl_action_type_support_t`

Warning

This method may return nullptr if the necessary ROS IDL libraries are not available in the system.

Returns:: The pointer to the struct, or nullptr if not found.

inline void *getTypeSupportIntrospectionHandleDynamic()#

Gets the pointer to the struct containing the ROS IDL introspection data.

Retrieves a pointer to the ROS IDL introspection structure for the message. The pointer points to a ROS IDL struct if the message is found. It is resolved by calling the rosidl_typesupport_introspection_c type support handle symbol for the given message name and type.

Message type	ROS IDL struct
Topic (Message)	`rosidl_message_type_support_t`
Service	`rosidl_service_type_support_t`
Action	`rosidl_message_type_support_t`

Warning

This method may return nullptr if the necessary ROS IDL introspection libraries are not available in the system.

Returns:: The pointer to the struct, or nullptr if not found.

inline void *create()#

Creates a new ROS 2 message instance.

Allocates memory for a new message of the specified type and initializes it. The pointer is resolved by calling the rosidl_generator_c __create symbol for the given message.

Note

The returned message must be destroyed using the destroy() method to prevent memory leaks.

Returns:: Pointer to the newly created message, or nullptr if creation failed.

template<typename T> inline void destroy(T msg)#

Destroys a ROS 2 message.

Finalizes the message by freeing its allocated memory. The function is resolved by calling the rosidl_generator_c __destroy symbol for the given message.

Note

This method does nothing if msg is nullptr.

Parameters:: msg – [in] Pointer to the message to destroy.
Pre:: The msg pointer must be a valid message previously created with create().

Protected Attributes

std::string m_pkgName#: Message package name.

std::string m_msgSubfolder#: Message subfolder name.

std::string m_msgName#: Message name.

BackendMessageType m_msgType#: Message type.

std::shared_ptr<isaacsim::core::includes::LibraryLoader> m_typesupportIntrospectionLibrary#: ROS IDL type support introspection library.

std::shared_ptr<isaacsim::core::includes::LibraryLoader> m_typesupportLibrary#: ROS IDL type support library.

std::shared_ptr<isaacsim::core::includes::LibraryLoader> m_generatorLibrary#: ROS IDL generator library.