#include <ROS2Bus.h>
Interface to the central ROS2SystemComponent. Use this API through ROS2Interface, for example:
auto node = ROS2Interface::Get()->GetNode();
◆ BroadcastTransform()
| virtual void ROS2::ROS2Requests::BroadcastTransform |
( |
const geometry_msgs::msg::TransformStamped & |
t, |
|
|
bool |
isDynamic |
|
) |
| const |
|
pure virtual |
Send transformation between ROS2 frames.
- Parameters
-
| t | is a ROS2 TransformStamped message. |
| isDynamic | controls whether a static or dynamic transform is sent. Static transforms are published only once and are to be used when the spatial relationship between two frames does not change. |
- Note
- Transforms are already published by each ROS2FrameComponent. Use this function directly only when default behavior of ROS2FrameComponent is not sufficient.
◆ GetNode()
| virtual std::shared_ptr< rclcpp::Node > ROS2::ROS2Requests::GetNode |
( |
| ) |
const |
|
pure virtual |
Get a central ROS2 node of the Gem. You can use this node to create publishers and subscribers.
- Returns
- The central ROS2 node which holds default publishers for core topics such as /clock and /tf.
- Note
- Alternatively, you can use your own node along with an executor.
◆ GetROSTimestamp()
| virtual builtin_interfaces::msg::Time ROS2::ROS2Requests::GetROSTimestamp |
( |
| ) |
const |
|
pure virtual |
Acquire current time as ROS2 timestamp. Timestamps provide temporal context for messages such as sensor data.
auto message = sensor_msgs::msg::PointCloud2();
message.header.stamp = ROS2Interface::Get()->GetROSTimestamp();
- Returns
- Simulation time in ROS2 format. Time source is also valid with non-real time settings.
- Note
- Make sure to set the use_sim_time parameter for ROS2 nodes which will use the simulation data.
◆ GetSimulationClock()
| virtual const SimulationClock & ROS2::ROS2Requests::GetSimulationClock |
( |
| ) |
const |
|
pure virtual |
Obtains a simulation clock that is used across simulation.
- Returns
- constant reference to currently running clock.
The documentation for this class was generated from the following file:
- Gems/ROS2/Code/Include/ROS2/ROS2Bus.h
1.9.6