Ros2TwistMessage

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

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

Class implementing a geometry_msgs/msg/Twist.

Public Functions

virtual void readData(

pxr::GfVec3d &linearVelocity,

pxr::GfVec3d &angularVelocity,

) = 0

Read the message field values.

Parameters:

• linearVelocity – Linear velocity.

• angularVelocity – Angular velocity.

inline void *getPtr()

Get the message pointer.

Returns:

The pointer to the message if it has been created and initialized properly, otherwise nullptr.

virtual const void *getTypeSupportHandle() = 0

Get the pointer to the struct that contains the ROS IDL message type support data.

The pointer points to a ROS IDL struct if the message if founded.

Message type	ROS IDL struct
Topic (Message)	rosidl_message_type_support_t
Service	rosidl_service_type_support_t
Action	rosidl_action_type_support_t

Returns:

The pointer to the struct, otherwise nullptr.

Protected Attributes

void *m_msg = nullptr

Message pointer.