Ros2SubscriberImpl

Fully qualified name: isaacsim::ros2::bridge::Ros2SubscriberImpl

class Ros2SubscriberImpl : public isaacsim::ros2::bridge::Ros2Subscriber

Implementation of ROS 2 Subscriber.

Manages a ROS 2 subscriber instance, providing functionality for receiving and processing messages.

Public Functions

Ros2SubscriberImpl(

Ros2NodeHandle *nodeHandle,

const char *topicName,

const void *typeSupport,

const Ros2QoSProfile &qos,

)

Constructor for ROS 2 Subscriber implementation.

Parameters:

• nodeHandle – [in] Pointer to the ROS 2 node handle.

• topicName – [in] Name of the topic to subscribe to.

• typeSupport – [in] Type support handle for the message type.

• qos – [in] Quality of Service settings for the subscriber.

virtual ~Ros2SubscriberImpl()

virtual bool spin(void *msg)

Processes incoming messages.

Parameters:

msg – [out] Pointer to store the received message

Returns:

bool True if a message was received and processed

inline virtual bool isValid()

Checks if the subscriber is valid.

Returns:

bool True if the subscriber is properly initialized