Crate isaac_sim_bridge 

cxx::bridge core for the Isaac Sim Rust SDK.

Exposes a process-wide consumer registry and producer registry that adapters (dora, rerun, custom) plug into. The bridge cdylib entry points (forward_*, poll_cmd_vel) are gated behind the cdylib feature so the rlib path compiles on any machine without Isaac Sim installed.

Structs

CameraDepth

Type-level marker for the per-pixel depth (metres, float32) camera channel.

CameraDepthMeta

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

CameraInfo

Type-level marker for the camera-info (calibration metadata) channel.

CameraInfoFrame

One camera-info dispatch. Bundles the matrix and distortion slices alongside the small CameraInfoMeta so consumer callbacks don’t have to thread eight separate parameters.

CameraInfoMeta

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

CameraRgb

Type-level marker for the RGB camera sensor channel.

CameraRgbMeta

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

CmdVel

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

CmdVelChannel

Type-level marker for the cmd_vel articulation channel.

Imu

Type-level marker for the IMU sensor channel. One sample per dispatch carries linear acceleration, angular velocity, and orientation packed into ImuMeta — no variable-sized payload.

ImuMeta

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

LidarFlatScan

Type-level marker for the 2D RTX LiDAR FlatScan sensor channel.

LidarFlatScanMeta

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

LidarPointCloud

Type-level marker for the 3D RTX LiDAR PointCloud sensor channel.

LidarPointCloudMeta

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

Odometry

Type-level marker for the chassis odometry channel. One sample per dispatch carries position, orientation, and body-frame velocities packed into OdometryMeta — no variable-sized payload.

OdometryMeta

C++-compatible metadata structs shared across the cxx::bridge boundary. Fields are named after physical quantities and need no further prose.

ProducerRegistry

Per-target_id registry of producer slots. Each cmd_vel-shaped sensor (or controller target) gets its own keyed slot so multiple targets can co-exist and the C++ poll path looks up by target_id.

ProducerSlot

Lock-free single-slot store for a “latest-wins” producer.

SourceFilter

Filter for the per-source routing key adapters use to demultiplex dispatches from multiple sensors of the same type.

Traits

Sensor

Type-level identifier for a sensor domain.

Functions

camera_depth_consumer_count

Number of currently registered depth camera consumers.

camera_info_consumer_count

Number of currently registered camera-info consumers.

camera_rgb_consumer_count

Number of currently registered RGB camera consumers.

cmd_vel_consumer_count

Number of registered cmd_vel observers (adapters watching the actuation stream).

cmd_vel_producer_count

Number of distinct articulation targets that have registered a producer slot.

dispatch_camera_depth

Fan out a single depth camera frame to all registered consumers.

dispatch_camera_info

Fan out a single camera-info frame to all registered consumers.

dispatch_camera_rgb

Fan out a single RGB camera frame to all registered consumers.

dispatch_imu

Fan out a single IMU frame to all registered consumers.

dispatch_lidar_flatscan

Fan out a single LidarFlatScan frame to all registered consumers. Called by forward_lidar_flatscan after logging; also callable directly from tests or synthetic sources that bypass the C++ bridge path.

dispatch_lidar_pointcloud

Fan out a single LidarPointCloud frame to all registered consumers.

dispatch_odometry

Fan out a single odometry frame to all registered consumers.

imu_consumer_count

Number of currently registered IMU consumers.

lidar_flatscan_consumer_count

Number of currently registered LidarFlatScan consumers.

lidar_pointcloud_consumer_count

Number of currently registered LidarPointCloud consumers.

odometry_consumer_count

Number of currently registered odometry consumers.

peek_cmd_vel

Rust-friendly variant of poll_cmd_vel for tests + adapter inspection. Returns Some(CmdVel) when a producer is registered and has published at least once; None otherwise.

register_camera_depth_consumer

Register a callback to receive every depth camera frame the bridge dispatches. The closure runs on the bridge thread; keep it bounded.

register_camera_info_consumer

Register a callback to receive every camera-info frame the bridge dispatches. The closure runs on the bridge thread; keep it bounded.

register_camera_rgb_consumer

Register a callback to receive every RGB camera frame the bridge dispatches. The closure runs on the bridge thread; keep it bounded.

register_cmd_vel_consumer

Register a consumer that observes every Twist published into any cmd_vel producer slot. The closure receives (target_id, &CmdVel) — filter on target_id if you only care about one articulation.

register_cmd_vel_producer

Register (or fetch) a cmd_vel producer for target_id (typically the articulation prim path). Multiple writers can hold their own Arc to the slot — last publish wins.

register_imu_consumer

Register a callback to receive every IMU frame the bridge dispatches. The closure runs on the bridge thread; keep it bounded.

register_lidar_flatscan_consumer

Register a callback to receive every LidarFlatScan frame the bridge dispatches. The closure runs on the bridge thread; keep it bounded. Registrations accumulate for the lifetime of the process — there is no unregister; drop the adapter runner to stop receiving frames.

register_lidar_pointcloud_consumer

Register a callback to receive every LidarPointCloud frame the bridge dispatches. The closure runs on the bridge thread; keep it bounded.

register_odometry_consumer

Register a callback to receive every chassis odometry frame the bridge dispatches. The closure runs on the bridge thread; keep it bounded.