Ros2TwistMessage

Fully qualified name: isaacsim::ros2::bridge::Ros2TwistMessage

class Ros2TwistMessage : public isaacsim::ros2::bridge::Ros2Message

Class implementing a geometry_msgs/msg/Twist.

Provides functionality to read ROS 2 Twist messages that contain linear and angular velocity information.

Subclassed by isaacsim::ros2::bridge::Ros2TwistMessageImpl

Public Functions

virtual void readData(

pxr::GfVec3d &linearVelocity,

pxr::GfVec3d &angularVelocity,

) = 0

Read the message field values.

Extracts linear and angular velocity from a ROS 2 Twist message.

Parameters:

• linearVelocity – [out] Linear velocity.

• angularVelocity – [out] Angular velocity.

inline void *getPtr()

Retrieves the message pointer.

Returns the pointer to the underlying ROS 2 message if it has been properly created and initialized.

Note

This method does not perform type checking - the caller is responsible for proper casting to the appropriate message type.

Returns:

Pointer to the message or nullptr if not initialized.

virtual const void *getTypeSupportHandle() = 0

Gets the type support handle for the message.

Returns a pointer to the ROS IDL message type support data structure. The actual type depends on the message category:

• Topic: rosidl_message_type_support_t

• Service: rosidl_service_type_support_t

• Action: rosidl_action_type_support_t

Returns:

Pointer to the type support structure or nullptr.

Protected Attributes

void *m_msg = nullptr

Message pointer.