Ros2Subscriber

Fully qualified name: isaacsim::ros2::bridge::Ros2Subscriber

class Ros2Subscriber

Base class for ROS 2 subscribers.

Provides the interface for subscribing to messages from ROS 2 topics. Subscribers receive data published by other ROS 2 nodes.

Subclassed by isaacsim::ros2::bridge::Ros2SubscriberImpl

Public Functions

virtual bool spin(void *msg) = 0

Processes incoming messages from the topic.

Checks for and retrieves any available messages from the subscription queue. If a message is available, it is copied into the provided message structure.

Parameters:

msg – [out] Pointer to store the received message.

Returns:

True if a message was received, false otherwise.

Pre:

The msg pointer must point to a valid message structure of the correct type.

Pre:

The subscriber must be valid (check with isValid()).

virtual bool isValid() = 0

Checks whether the subscriber is valid.

Verifies if the object holds a properly initialized ROS 2 subscriber instance.

Note

A subscriber may become invalid if its associated node or context is destroyed.

Returns:

True if the subscriber is valid, false otherwise.