Ros2Node#

Fully qualified name: isaacsim::ros2::bridge::Ros2Node

class Ros2Node : public isaacsim::core::includes::BaseResetNode#

Base class for ROS 2 bridge nodes.

This class provides the foundation for ROS 2 nodes in the Isaac Sim bridge. It handles node lifecycle management, initialization, and automatic cleanup of the internal ROS 2 node handle. Derived classes should implement specific node functionality while relying on this base class for core ROS 2 operations.

Public Functions

inline Ros2Node()#

Constructor for the ROS 2 node.

Initializes the node by retrieving necessary interfaces:

  • Core node framework interface

  • ROS 2 bridge interface

  • Settings interface for configuration

  • ROS 2 factory for node creation

The constructor also configures publishing verification settings based on the extension configuration.

inline ~Ros2Node()#

Destructor.

Ensures proper cleanup by calling reset()

inline virtual void reset()#

Resets the node handle.

Cleans up the ROS 2 node handle. Derived classes should call this method after cleaning up their own publishers/subscribers.

Note

This is a virtual method that can be overridden by derived classes

inline bool initializeNodeHandle(
const std::string &nodeName,
const std::string &namespaceName,
uint64_t contextHandleAddr,
)#

Initializes the ROS 2 node handle.

Creates and initializes the ROS 2 node handle with the specified name and namespace. This method should be called before performing any operations with the node. Node name changes are only applied after a Stop and Play cycle.

Note

The method sanitizes node names and validates them before initialization

Parameters:

  • nodeName – [in] Name for the ROS 2 node

  • namespaceName – [in] Namespace for the ROS 2 node

  • contextHandleAddr – [in] Memory address of the context handler

Returns:

bool True if initialization succeeded, false otherwise

inline bool isInitialized() const#

Checks if the node is initialized.

Verifies if the node handle has been properly created and initialized

Returns:

bool True if the node handle exists, false otherwise

Public Static Functions

static inline std::string addTopicPrefix(
const std::string &prefix,
const std::string &topicName,
)#

Adds a prefix to a topic name.

Prepends the specified prefix to a topic name, ensuring proper separator character (/) placement between prefix and topic name.

Note

Returns empty string if input topic name is empty

Parameters:

  • prefix – [in] Prefix to add to the topic name

  • topicName – [in] Original topic name

Returns:

std::string The prefixed topic name

static inline std::string collectNamespace(
const std::string &namespaceInput,
const PXR_NS::UsdPrim &startPrim,
const bool tfNode = false,
)#

Collects namespace information from USD stage.

Traverses up the USD stage hierarchy from the start prim, collecting namespace information from isaac:namespace attributes. For non-TF nodes, builds a hierarchical namespace. For TF nodes, only uses the highest-level namespace.

Note

Returns input namespace if not empty

Parameters:

  • namespaceInput – [in] Initial namespace (if not empty, skips collection)

  • startPrim – [in] USD Prim to start namespace collection from

  • tfNode – [in] Whether collecting namespace for a TF node

Returns:

std::string Collected namespace string

Protected Attributes

isaacsim::ros2::bridge::Ros2Bridge *m_ros2Bridge = nullptr#

Ros2Bridge (carb) interface.

std::shared_ptr<Ros2NodeHandle> m_nodeHandle = nullptr#

Node handler.

carb::settings::ISettings *m_settings = nullptr#

Settings (carb) interface.

bool m_publishWithoutVerification#

Whether to publish in a topic even if there are no subscription to it.

std::shared_ptr<Ros2ContextHandle> *m_contextHandle#

Context handler.

isaacsim::core::nodes::CoreNodes *m_coreNodeFramework#

CoreNodes (carb) interface.

Ros2Factory *m_factory = nullptr#

Factory instance for creating ROS 2 related objects according to the sourced ROS 2 distribution.

std::string m_namespaceName#

Namespace name.