PublisherBase

Fully qualified name: isaacsim::ros2::nodes::PublisherBase

class PublisherBase

Common base for all standalone ROS 2 publishers in the library.

Handles ROS 2 node handle creation, publisher creation with QoS, subscription-count gating, and teardown. Derived classes override onCreateMessage() to create the specific message type and provide typed publish methods.

Subclassed by isaacsim::ros2::nodes::ImagePublisher, isaacsim::ros2::nodes::PointCloudPublisher

Public Functions

PublisherBase()

virtual ~PublisherBase()

PublisherBase(const PublisherBase&) = delete

PublisherBase &operator=(const PublisherBase&) = delete

bool initialize(

const std::string &nodeName,

const std::string &namespaceName,

const std::string &topicName,

const std::string &frameId,

uint64_t queueSize,

const std::string &qosProfile,

uint64_t context = 0,

)

One-time ROS 2 setup. Calls onCreateMessage() to create the message, then creates the publisher. Safe to call multiple times (no-op after first).

void send()

Publish the message that was previously filled by a prepare() call. Thread-safe: can be called from a background task after prepare() completes.

virtual void reset()

Release ROS 2 resources and reset the publisher to an uninitialized state.

inline bool isInitialized() const

Return true if the publisher has been successfully initialized.

Protected Functions

virtual const void *onCreateMessage() = 0

Override to create the ROS 2 message. Return the type-support handle pointer (from message->getTypeSupportHandle()). Store the typed message in a member of the derived class.

virtual isaacsim::ros2::core::Ros2Message *getMessagePtr() = 0

Override to return the concrete message pointer for send().

bool shouldPublish() const

Returns false when there are no subscribers and publish_without_verification is off.

Protected Attributes

isaacsim::ros2::core::Ros2Bridge *m_ros2Bridge = nullptr

Cached bridge singleton.

isaacsim::ros2::core::Ros2Factory *m_factory = nullptr

Cached factory from the bridge.

std::shared_ptr<isaacsim::ros2::core::Ros2ContextHandle> *m_contextHandle = nullptr

ROS 2 context handle.

std::shared_ptr<isaacsim::ros2::core::Ros2NodeHandle> m_nodeHandle

ROS 2 node handle.

std::shared_ptr<isaacsim::ros2::core::Ros2Publisher> m_publisher

Underlying ROS 2 publisher.

std::string m_frameId

TF frame ID stamped into published messages.

bool m_publishWithoutVerification = false

When true, publish even with no subscribers.