Ros2NodeHandle

Fully qualified name: isaacsim::ros2::bridge::Ros2NodeHandle

class Ros2NodeHandle

Base class that encapsulates a ROS 2 node (rcl_node_t) instance.

Provides the interface for managing ROS 2 nodes, which are the primary entry points for communication in the ROS 2 system.

Subclassed by isaacsim::ros2::bridge::Ros2NodeHandleImpl

Public Functions

virtual Ros2ContextHandle *getContextHandle() = 0

Gets the pointer to the context handler object.

Retrieves the context handler that owns this node.

See also

Ros2ContextHandle for context management details.

Returns:

Pointer to the context handler.

virtual void *getNode() = 0

Gets the pointer to the ROS 2 node structure.

Returns a pointer to the underlying ROS 2 node structure (rcl_node_t).

Warning

This is a low-level access method that should be used with caution.

Returns:

Pointer to the node structure.