omnigraph_utils

Fully qualified name: isaacsim::ros2::omnigraph_utils

namespace omnigraph_utils

Functions

bool checkCondition(const void *ptr, std::string message)

Verifies that a pointer is not null and logs an error message if it is.

bool createOgAttributesForFields(OgnROS2DatabaseDerivedType &db, const NodeObj &nodeObj, std::vector< DynamicMessageField > messageFields, const std::string prependStr, std::string messageType)

Creates OmniGraph attributes for message fields.

bool createOgAttributesForMessage(OgnROS2DatabaseDerivedType &db, const NodeObj &nodeObj, const std::string &messagePackage, const std::string &messageSubfolder, const std::string &messageName, std::shared_ptr< Ros2Message > message, const std::string prependStr)

Creates OmniGraph attributes for a ROS 2 message.

bool findMatchingAttribute(OgnROS2DatabaseDerivedType &db, const NodeObj &nodeObj, std::vector< DynamicMessageField > messageFields, const std::string prependStr)

Checks if node attributes match message fields.

T const * getAttributeReadableArrayData(const NodeObj &nodeObj, const std::string &attrName, size_t &newCount)

Gets read-only data for an array attribute.

T const * getAttributeReadableData(const NodeObj &nodeObj, const std::string &attrName)

Gets read-only data for a simple attribute.

T * getAttributeWritableArrayData(const NodeObj &nodeObj, const std::string &attrName, size_t newCount)

Gets writable data for an array attribute with resizing.

T * getAttributeWritableData(const NodeObj &nodeObj, const std::string &attrName)

Gets writable data for a simple attribute.

std::string inputOutput(bool isOutput)

Returns the OmniGraph attribute prefix based on direction.

bool removeDynamicAttributes(const NodeObj &nodeObj)

Removes dynamic attributes from a node.

bool writeMessageDataFromNode(OmniGraphDatabase &db, std::shared_ptr< Ros2Message > message, std::string prependStr, bool isOutput)

Reads attribute data from an OmniGraph node and writes it to a ROS 2 message.

bool writeNodeAttributeFromMessage(OmniGraphDatabase &db, std::shared_ptr< Ros2Message > message, std::string prependStr, bool isOutput)

Reads data from a ROS 2 message and writes it to OmniGraph node attributes.