Ros2Factory#

Fully qualified name: isaacsim::ros2::bridge::Ros2Factory

class Ros2Factory#

Base class for creating ROS 2 related functions/objects according to the sourced ROS 2 distribution.

This abstract factory class provides an interface for creating various ROS 2 entities such as nodes, publishers, subscribers, and different message types. It serves as a bridge between Isaac Sim and ROS 2, allowing simulation components to communicate with ROS 2 ecosystem.

Implementations of this class handle the specific ROS 2 distribution being used (e.g., Foxy, Humble) while providing a consistent interface for the simulation.

Subclassed by isaacsim::ros2::bridge::Ros2FactoryImpl

Public Functions

virtual ~Ros2Factory() = default#

Virtual destructor.

Ensures proper cleanup of derived classes when destroyed through a base class pointer.

virtual std::shared_ptr<Ros2ContextHandle> createContextHandle() = 0#

Create a ROS 2 context handler.

Creates and initializes a ROS 2 context which is required for any ROS 2 communication. The context maintains the ROS 2 initialization state and global configuration.

Returns:

Shared pointer to the created context handler.

virtual std::shared_ptr<Ros2NodeHandle> createNodeHandle(
const char *name,
const char *namespaceName,
Ros2ContextHandle *contextHandle,
) = 0#

Create a ROS 2 node handler.

Creates a ROS 2 node with the specified name and namespace within the given context. The node is the primary entry point for communication with the ROS 2 graph.

Parameters:

  • name – [in] Name of the node.

  • namespaceName – [in] Namespace of the node.

  • contextHandle – [in] Context handler within which to create the node.

Returns:

Shared pointer to the created node handler.

virtual std::shared_ptr<Ros2Publisher> createPublisher(
Ros2NodeHandle *nodeHandle,
const char *topicName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 publisher.

Creates a publisher that can send messages of the specified type on the given topic with the specified quality of service settings.

Parameters:

  • nodeHandle – [in] Node handler to which the publisher will be attached.

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

  • typeSupport – [in] Message type support structure that provides serialization capabilities.

  • qos – [in] Quality of service profile that defines communication properties.

Returns:

Shared pointer to the created publisher.

virtual std::shared_ptr<Ros2Subscriber> createSubscriber(
Ros2NodeHandle *nodeHandle,
const char *topicName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 subscriber.

Creates a subscriber that can receive messages of the specified type from the given topic with the specified quality of service settings.

Parameters:

  • nodeHandle – [in] Node handler to which the subscriber will be attached.

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

  • typeSupport – [in] Message type support structure that provides deserialization capabilities.

  • qos – [in] Quality of Service profile that defines communication properties.

Returns:

Shared pointer to the created subscriber.

virtual std::shared_ptr<Ros2Service> createService(
Ros2NodeHandle *nodeHandle,
const char *serviceName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 service server.

Creates a service server that can receive service requests and provide responses of the specified type on the given service name with the specified quality of service settings.

Parameters:

  • nodeHandle – [in] Node handler to which the service server will be attached.

  • serviceName – [in] Name of the service.

  • typeSupport – [in] Service type support structure that provides serialization/deserialization capabilities.

  • qos – [in] Quality of Service profile that defines communication properties.

Returns:

Shared pointer to the created service server.

virtual std::shared_ptr<Ros2Client> createClient(
Ros2NodeHandle *nodeHandle,
const char *serviceName,
const void *typeSupport,
const Ros2QoSProfile &qos,
) = 0#

Create a ROS 2 service client.

Creates a service client that can send service requests and receive responses of the specified type to the given service name with the specified quality of service settings.

Parameters:

  • nodeHandle – [in] Node handler to which the service client will be attached.

  • serviceName – [in] Name of the service.

  • typeSupport – [in] Service type support structure that provides serialization/deserialization capabilities.

  • qos – [in] Quality of Service profile that defines communication properties.

Returns:

Shared pointer to the created service client.

virtual std::shared_ptr<Ros2ClockMessage> createClockMessage() = 0#

Create a ROS 2 rosgraph_msgs/msg/Clock message.

Creates a message that can be used to publish simulation time to ROS 2 clock topics.

Returns:

Shared pointer to the created clock message.

virtual std::shared_ptr<Ros2ImuMessage> createImuMessage() = 0#

Create a ROS 2 sensor_msgs/msg/Imu message.

Creates a message that can be used to publish inertial measurement unit data.

Returns:

Shared pointer to the created IMU message.

virtual std::shared_ptr<Ros2CameraInfoMessage> createCameraInfoMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/CameraInfo message.

Creates a message that can be used to publish camera calibration and metadata.

Returns:

Shared pointer to the created camera info message.

virtual std::shared_ptr<Ros2ImageMessage> createImageMessage() = 0#

Create a ROS 2 sensor_msgs/msg/Image message.

Creates a message that can be used to publish image data.

Returns:

Shared pointer to the created image message.

virtual std::shared_ptr<Ros2NitrosBridgeImageMessage> createNitrosBridgeImageMessage(
) = 0#

Create a ROS 2 isaac_ros_nitros_bridge_interfaces/msg/NitrosBridgeImage message.

Creates a message that can be used for transferring images between NITROS and ROS 2.

Returns:

Shared pointer to the created NITROS bridge image message.

virtual std::shared_ptr<Ros2BoundingBox2DMessage> createBoundingBox2DMessage(
) = 0#

Create a ROS 2 vision_msgs/msg/Detection2DArray message.

Creates a message that can be used to publish 2D bounding box detection results.

Returns:

Shared pointer to the created 2D bounding box message.

virtual std::shared_ptr<Ros2BoundingBox3DMessage> createBoundingBox3DMessage(
) = 0#

Create a ROS 2 vision_msgs/msg/Detection3DArray message.

Creates a message that can be used to publish 3D bounding box detection results.

Returns:

Shared pointer to the created 3D bounding box message.

virtual std::shared_ptr<Ros2OdometryMessage> createOdometryMessage(
) = 0#

Create a ROS 2 nav_msgs/msg/Odometry message.

Creates a message that can be used to publish position and velocity in a global coordinate frame.

Returns:

Shared pointer to the created odometry message.

virtual std::shared_ptr<Ros2RawTfTreeMessage> createRawTfTreeMessage(
) = 0#

Create a ROS 2 tf2_msgs/msg/TFMessage message.

Creates a raw transform message that can be used to publish coordinate frame transformations.

Returns:

Shared pointer to the created raw transform tree message.

virtual std::shared_ptr<Ros2SemanticLabelMessage> createSemanticLabelMessage(
) = 0#

Create a ROS 2 std_msgs/msg/String message as semantic label.

Creates a message that can be used to publish semantic labels for objects.

Returns:

Shared pointer to the created semantic label message.

virtual std::shared_ptr<Ros2JointStateMessage> createJointStateMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/JointState message.

Creates a message that can be used to publish joint states including position, velocity, and effort.

Returns:

Shared pointer to the created joint state message.

virtual std::shared_ptr<Ros2PointCloudMessage> createPointCloudMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/PointCloud2 message.

Creates a message that can be used to publish point cloud data.

Returns:

Shared pointer to the created point cloud message.

virtual std::shared_ptr<Ros2LaserScanMessage> createLaserScanMessage(
) = 0#

Create a ROS 2 sensor_msgs/msg/LaserScan message.

Creates a message that can be used to publish laser scan data.

Returns:

Shared pointer to the created laser scan message.

virtual std::shared_ptr<Ros2TfTreeMessage> createTfTreeMessage() = 0#

Create a ROS 2 tf2_msgs/msg/TFMessage message.

Creates a transform message that can be used to publish coordinate frame transformations.

Returns:

Shared pointer to the created transform tree message.

virtual std::shared_ptr<Ros2TwistMessage> createTwistMessage() = 0#

Create a ROS 2 geometry_msgs/msg/Twist message.

Creates a message that can be used to represent velocity in free space with linear and angular components.

Returns:

Shared pointer to the created twist message.

virtual std::shared_ptr<Ros2AckermannDriveStampedMessage> createAckermannDriveStampedMessage(
) = 0#

Create a ROS 2 ackermann_msgs/msg/AckermannDriveStamped message.

Creates a message that can be used to represent an Ackermann steering command with timestamp.

Returns:

Shared pointer to the created Ackermann drive stamped message.

virtual std::shared_ptr<Ros2Message> createDynamicMessage(
const std::string &pkgName,
const std::string &msgSubfolder,
const std::string &msgName,
BackendMessageType messageType = BackendMessageType::eMessage,
) = 0#

Create a ROS 2 dynamic message.

Creates a message based on dynamically loaded type information, allowing for handling of message types that may not be known at compile time. This is useful for creating message instances for custom or third-party message types.

Parameters:

  • pkgName – [in] Message package name (e.g.: "std_msgs" for std_msgs/msg/Int32).

  • msgSubfolder – [in] Message subfolder name (e.g.: "msg" for std_msgs/msg/Int32).

  • msgName – [in] Message name (e.g.: "Int32" for std_msgs/msg/Int32).

  • messageType – [in] Message type, defaults to eMessage.

Returns:

Shared pointer to the created dynamic message.

virtual bool validateTopicName(const std::string &topicName) = 0#

Determine if the given topic name is valid.

Validates a topic name according to ROS 2 naming conventions.

Parameters:

topicName – [in] Topic name to validate.

Returns:

True if the topic name is valid, false otherwise.

virtual bool validateNamespaceName(
const std::string &namespaceName,
) = 0#

Determine if the given node namespace name is valid.

Validates a node namespace name according to ROS 2 naming conventions.

Parameters:

namespaceName – [in] Namespace name to validate.

Returns:

True if the node namespace name is valid, false otherwise.

virtual bool validateNodeName(const std::string &nodeName) = 0#

Determine if the given node name is valid.

Validates a node name according to ROS 2 naming conventions.

Parameters:

nodeName – [in] Node name to validate.

Returns:

True if the node name is valid, false otherwise.