Cherry-picks for 2409.1 point release (#784)

* Update ros2 template package (#769) * Fix hash for ROS2 Project template * Version bump for the ROS2 Project Template * Fix hashes and versioning for OpenXRTest and Multiplayer template * Regenerated Multiplayer template for repo.json Signed-off-by: Steve Pham <[email protected]> * fix ROS2FrameComponent::UpdateNamespaceCOnfiguration() (#774) Co-authored-by: Mateusz Żak <[email protected]> Signed-off-by: Jan Hanca <[email protected]> * Correct ROS2 Gem version from 3.2.1 to 3.1.1 (#775) Signed-off-by: Steve Pham <[email protected]> * extend functionality of FrameConversion.py (#772) * add additional logic to apply ROS2Frame conversion to overrides * since the ROS2FrameComponent is not mentioned directly in the patch path use the ROS2FrameComponent field names to correctly identify replacements Signed-off-by: Mateusz Żak <[email protected]> * Allow Ros2 frame component to be present on Level Entity (#777) Signed-off-by: Mateusz Wasilewski <[email protected]> * Fix FollowingCameraComponent: allow fly camera (#778) Signed-off-by: Jan Hanca <[email protected]> * Registry setting for ROS2 camera pipeline modification. (#781) Signed-off-by: Michał Pełka <[email protected]> Co-authored-by: Jan Hanca <[email protected]> Co-authored-by: Steve Pham <[email protected]> * Revert "fix bug in a spawner component (#725)" This reverts commit bbaece1. Signed-off-by: Jan Hanca <[email protected]> Signed-off-by: Mateusz Zak <[email protected]> --------- Signed-off-by: Steve Pham <[email protected]> Signed-off-by: Jan Hanca <[email protected]> Signed-off-by: Mateusz Żak <[email protected]> Signed-off-by: Mateusz Wasilewski <[email protected]> Signed-off-by: Michał Pełka <[email protected]> Signed-off-by: Mateusz Zak <[email protected]> Co-authored-by: Steve Pham <[email protected]> Co-authored-by: Mateusz Żak <[email protected]> Co-authored-by: Mateusz Wasilewski <[email protected]> Co-authored-by: Michał Pełka <[email protected]>
o3de · Nov 4, 2024 · 427e8f0 · 427e8f0
1 parent f71979b
commit 427e8f0
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Showing 18 changed files with 1,142 additions and 410 deletions.
diff --git a/Gems/ROS2/Code/CMakeLists.txt b/Gems/ROS2/Code/CMakeLists.txt
@@ -64,6 +64,7 @@ ly_add_target(
             Gem::Atom_RPI.Public
             Gem::Atom_Feature_Common.Static
             Gem::Atom_Component_DebugCamera.Static
+            Gem::Atom_AtomBridge.Static
             Gem::StartingPointInput
             Gem::PhysX5.Static
             Gem::LmbrCentral.API

diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
@@ -17,6 +17,7 @@
 #include <Atom/RPI.Public/RenderPipeline.h>
 #include <Atom/RPI.Public/Scene.h>
 #include <AzCore/Math/MatrixUtils.h>
+#include <AzCore/Settings/SettingsRegistry.h>
 #include <AzFramework/Components/TransformComponent.h>
 #include <AzFramework/Scene/SceneSystemInterface.h>
 #include <PostProcess/PostProcessFeatureProcessor.h>
@@ -27,6 +28,8 @@ namespace ROS2
 {
     namespace Internal
     {
+        constexpr AZStd::string_view AllowCameraPipelineModificationKey = "/O3DE/ROS2/Camera/AllowPipelineModification";
+
         /// @FormatMappings - contains the mapping from RHI to ROS image encodings. List of supported
         /// ROS image encodings lives in `sensor_msgs/image_encodings.hpp`
         /// We are not including `image_encodings.hpp` since it uses exceptions.
@@ -107,7 +110,18 @@ namespace ROS2
 
     void CameraSensor::SetupPasses()
     {
-        AZ_TracePrintf("CameraSensor", "Initializing pipeline for %s\n", m_cameraSensorDescription.m_cameraName.c_str());
+        bool allowModification = false;
+        auto* registry = AZ::SettingsRegistry::Get();
+        AZ_Assert(registry, "No Registry available");
+        if (registry)
+        {
+            registry->Get(allowModification, Internal::AllowCameraPipelineModificationKey);
+        }
+        AZ_Trace(
+            "CameraSensor",
+            "Initializing pipeline for %s, pipeline modification : %s\n",
+            m_cameraSensorDescription.m_cameraName.c_str(),
+            allowModification ? "yes" : "no");
 
         const AZ::Name viewName = AZ::Name("MainCamera");
         m_view = AZ::RPI::View::CreateView(viewName, AZ::RPI::View::UsageCamera);
@@ -123,7 +137,7 @@ namespace ROS2
             m_entityId.ToString().c_str());
         AZ::RPI::RenderPipelineDescriptor pipelineDesc;
         pipelineDesc.m_mainViewTagName = "MainCamera";
-        pipelineDesc.m_allowModification = true;
+        pipelineDesc.m_allowModification = allowModification;
         pipelineDesc.m_name = m_pipelineName;
 
         pipelineDesc.m_rootPassTemplate = GetPipelineTemplateName();

diff --git a/Gems/ROS2/Code/Source/Frame/Conversions/FrameConversion.py b/Gems/ROS2/Code/Source/Frame/Conversions/FrameConversion.py
@@ -12,7 +12,7 @@
 
 def find_and_replace(data):
 
-    def search_for_components(item, foundComponents):
+    def search_for_components(item, foundComponents, insidePatches=False):
         if isinstance(item, dict):
             if "Components" in item:
                 foundComponents = True
@@ -32,13 +32,28 @@ def search_for_components(item, foundComponents):
                     modifiedElement["ROS2FrameConfiguration"] = modifiedElement["m_template"]
                     del modifiedElement["m_template"]
                     item = modifiedElement
-            if "op" in item and item["op"] == "replace" and "path" in item:
-                item["path"] = item["path"].replace("ROS2FrameComponent/m_template", "ROS2FrameEditorComponent/ROS2FrameConfiguration")
-            for value in item.values():
-                search_for_components(value, foundComponents)
+
+            # Check if inside "Patches" section
+            if "Patches" in item:
+                insidePatches = True
+
+            # Only apply path changes inside "Patches"
+            if insidePatches and "op" in item and "path" in item:
+                # We directly look for the ROS2FrameComponent fields and replace "m_template" with "ROS2FrameConfiguration"
+                if any(substring in item["path"] for substring in [
+                    "m_template/Namespace Configuration",
+                    "m_template/Frame Name",
+                    "m_template/Publish Transform",
+                    "m_template/Joint Name"
+                ]):
+                    item["path"] = item["path"].replace("m_template", "ROS2FrameConfiguration")
+
+            for key, value in item.items():
+                search_for_components(value, foundComponents, insidePatches)
+
         elif isinstance(item, list):
             for element in item:
-                search_for_components(element, foundComponents)
+                search_for_components(element, foundComponents, insidePatches)
 
     search_for_components(data, False)
 

diff --git a/Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp b/Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp
@@ -82,6 +82,12 @@ namespace ROS2
     {
         m_namespace = ros2Namespace;
         m_namespaceStrategy = strategy;
+
+        if (strategy == NamespaceStrategy::Custom)
+        {
+            m_customNamespace = ros2Namespace;
+        }
+
         UpdateNamespace();
     }
 

diff --git a/Gems/ROS2/Code/Source/Frame/ROS2FrameEditorComponent.cpp b/Gems/ROS2/Code/Source/Frame/ROS2FrameEditorComponent.cpp
@@ -115,6 +115,7 @@ namespace ROS2
                 ec->Class<ROS2FrameEditorComponent>("ROS2 Frame", "[ROS2 Frame component]")
                     ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
                     ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Game"))
+                    ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC_CE("Level"))
                     ->Attribute(AZ::Edit::Attributes::Category, "ROS2")
                     ->Attribute(AZ::Edit::Attributes::Icon, "Editor/Icons/Components/ROS2Frame.svg")
                     ->Attribute(AZ::Edit::Attributes::ViewportIcon, "Editor/Icons/Components/Viewport/ROS2Frame.svg")

diff --git a/Gems/ROS2/Code/Source/SimulationUtils/FollowingCameraComponent.cpp b/Gems/ROS2/Code/Source/SimulationUtils/FollowingCameraComponent.cpp
@@ -7,6 +7,7 @@
  */
 
 #include "FollowingCameraComponent.h"
+#include <AtomBridge/FlyCameraInputBus.h>
 #include <AzCore/Serialization/EditContext.h>
 #include <AzCore/Serialization/SerializeContext.h>
 #include <AzFramework/Input/Devices/Keyboard/InputDeviceKeyboard.h>
@@ -29,8 +30,6 @@ namespace ROS2
     {
     }
 
-
-
     void FollowingCameraComponent::Reflect(AZ::ReflectContext* reflection)
     {
         FollowingCameraConfiguration::Reflect(reflection);
@@ -89,6 +88,8 @@ namespace ROS2
         if (m_configuration.m_defaultView < m_configuration.m_predefinedViews.size())
         {
             m_currentView = m_configuration.m_predefinedViews[m_configuration.m_defaultView];
+            AZ::AtomBridge::FlyCameraInputBus::EventResult(
+                m_disableCameraMove, m_currentView, &AZ::AtomBridge::FlyCameraInputBus::Events::GetIsEnabled);
         }
         InputChannelEventListener::Connect();
         AZ::TickBus::Handler::BusConnect();
@@ -105,7 +106,8 @@ namespace ROS2
         const AZ::Vector3 axisX = transform.GetBasisX();
         const AZ::Vector3 axisY = transform.GetBasisY();
 
-        const AZ::Matrix3x3 projectionOnXY {AZ::Matrix3x3::CreateFromColumns(AZ::Vector3::CreateAxisX(), AZ::Vector3::CreateAxisY(), AZ::Vector3::CreateZero())};
+        const AZ::Matrix3x3 projectionOnXY{ AZ::Matrix3x3::CreateFromColumns(
+            AZ::Vector3::CreateAxisX(), AZ::Vector3::CreateAxisY(), AZ::Vector3::CreateZero()) };
 
         const AZ::Vector3 newAxisZ = AZ::Vector3::CreateAxisZ(); // new axis Z points up
 
@@ -226,26 +228,29 @@ namespace ROS2
     void FollowingCameraComponent::OnKeyboardEvent(const AzFramework::InputChannel& inputChannel)
     {
         const AzFramework::InputChannelId& channelId = inputChannel.GetInputChannelId();
-        if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericW)
-        {
-            m_opticalAxisTranslation += m_configuration.m_zoomSpeed;
-            m_opticalAxisTranslation = AZStd::min(m_opticalAxisTranslation, m_configuration.m_opticalAxisTranslationMin);
-            return;
-        }
-        if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericS)
-        {
-            m_opticalAxisTranslation -= m_configuration.m_zoomSpeed;
-            return;
-        }
-        if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericA)
-        {
-            m_rotationOffset -= m_configuration.m_rotationSpeed;
-            return;
-        }
-        if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericD)
+        if (!m_disableCameraMove)
         {
-            m_rotationOffset += m_configuration.m_rotationSpeed;
-            return;
+            if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericW)
+            {
+                m_opticalAxisTranslation += m_configuration.m_zoomSpeed;
+                m_opticalAxisTranslation = AZStd::min(m_opticalAxisTranslation, m_configuration.m_opticalAxisTranslationMin);
+                return;
+            }
+            if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericS)
+            {
+                m_opticalAxisTranslation -= m_configuration.m_zoomSpeed;
+                return;
+            }
+            if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericA)
+            {
+                m_rotationOffset -= m_configuration.m_rotationSpeed;
+                return;
+            }
+            if (channelId == AzFramework::InputDeviceKeyboard::Key::AlphanumericD)
+            {
+                m_rotationOffset += m_configuration.m_rotationSpeed;
+                return;
+            }
         }
 
         // channelId is a numeric key (Key::Alphanumeric0-Key::Alphanumeric9)
@@ -256,6 +261,12 @@ namespace ROS2
                 m_currentView = m_configuration.m_predefinedViews[viewId];
                 m_lastTranslationsBuffer.clear();
                 m_lastRotationsBuffer.clear();
+                m_rotationOffset = 0.0f;
+                m_opticalAxisTranslation = 0.0f;
+
+                m_disableCameraMove = false; // reset value before reading
+                AZ::AtomBridge::FlyCameraInputBus::EventResult(
+                    m_disableCameraMove, m_currentView, &AZ::AtomBridge::FlyCameraInputBus::Events::GetIsEnabled);
             }
         }
     }

diff --git a/Gems/ROS2/Code/Source/SimulationUtils/FollowingCameraComponent.h b/Gems/ROS2/Code/Source/SimulationUtils/FollowingCameraComponent.h
@@ -81,6 +81,7 @@ namespace ROS2
         float m_rotationOffset = 0.0f; //!< The rotation change from the input.
         float m_opticalAxisTranslation = 0.0f; //!< The zoom change from the input.
         AZ::EntityId m_currentView; //!< Current used view point.
+        bool m_disableCameraMove = false; //!< Disable camera move (used when fly camera is selected).
 
         FollowingCameraConfiguration m_configuration; //!< The configuration of the following camera.
     };

diff --git a/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp b/Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp
@@ -243,14 +243,8 @@ namespace ROS2
             PreSpawn(id, view, transform, spawnableName, spawnableNamespace);
         };
 
-        optionalArgs.m_completionCallback = [service_handle, header, ticketName, parentId = GetEntityId()](auto id, auto view)
+        optionalArgs.m_completionCallback = [service_handle, header, ticketName](auto id, auto view)
         {
-            if (!view.empty())
-            {
-                const AZ::Entity* root = *view.begin();
-                auto* transformInterface = root->FindComponent<AzFramework::TransformComponent>();
-                transformInterface->SetParent(parentId);
-            }
             SpawnEntityResponse response;
             response.success = true;
             response.status_message = ticketName.c_str();
@@ -275,6 +269,7 @@ namespace ROS2
 
         auto* transformInterface = root->FindComponent<AzFramework::TransformComponent>();
         transformInterface->SetWorldTM(transform);
+        transformInterface->SetParent(GetEntityId());
 
         AZStd::string instanceName = AZStd::string::format("%s_%d", spawnableName.c_str(), m_counter++);
         for (AZ::Entity* entity : view)

diff --git a/Gems/ROS2/gem.json b/Gems/ROS2/gem.json
@@ -1,6 +1,6 @@
 {
     "gem_name": "ROS2",
-    "version": "3.2.1",
+    "version": "3.1.1",
     "platforms": [
         "Linux"
     ],
@@ -36,5 +36,5 @@
     ],
     "restricted": "ROS2",
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0//ros2-3.2.1-gem.zip"
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/ros2-3.1.1-gem.zip"
 }
diff --git a/Projects/OpenXRTest/project.json b/Projects/OpenXRTest/project.json
@@ -1,9 +1,9 @@
 {
     "project_name": "OpenXRTest",
-    "version": "1.0.0",
+    "version": "1.0.1",
     "project_id": "{947211d5-689a-437f-8ad7-7f558edcd40a}",
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/openxrtest-1.0.0-project.zip",
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/openxrtest-1.0.1-project.zip",
     "origin": "https://github.com/o3de/o3de-extras",
     "license": "For terms please see the LICENSE*.TXT files at the root of this distribution.",
     "display_name": "OpenXRTest",

diff --git a/Templates/Multiplayer/template.json b/Templates/Multiplayer/template.json
@@ -1,5 +1,6 @@
 {
     "template_name": "Multiplayer",
+    "version": "2.0.0",
     "origin": "Open 3D Engine - o3de.org",
     "license": "https://opensource.org/licenses/MIT",
     "display_name": "Multiplayer",
@@ -1472,5 +1473,7 @@
         {
             "dir": "cmake"
         }
-    ]
+    ],
+    "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/multiplayer-2.0.0-template.zip"
 }
diff --git a/Templates/Ros2FleetRobotTemplate/Template/Registry/ros2.setreg b/Templates/Ros2FleetRobotTemplate/Template/Registry/ros2.setreg
@@ -0,0 +1,20 @@
+{
+    "O3DE":
+    {
+        "InputSystem":
+        {
+            "Mouse":
+            {
+                "CaptureMouseCursor": false
+            }
+        },
+        "ROS2":
+        {
+            "SteadyClock" : true,
+            "Camera":
+            {
+                "AllowPipelineModification": true
+            }
+        }
+    }
+}
diff --git a/Templates/Ros2FleetRobotTemplate/template.json b/Templates/Ros2FleetRobotTemplate/template.json
@@ -151,6 +151,10 @@
             "file": "Registry/physxsystemconfiguration.setreg",
             "isTemplated": false
         },
+        {
+            "file": "Registry/ros2.setreg",
+            "isTemplated": false
+        },
         {
             "file": "Resources/GameSDK.ico",
             "isTemplated": false

diff --git a/Templates/Ros2ProjectTemplate/Template/Registry/ros2.setreg b/Templates/Ros2ProjectTemplate/Template/Registry/ros2.setreg
@@ -0,0 +1,20 @@
+{
+    "O3DE":
+    {
+        "InputSystem":
+        {
+            "Mouse":
+            {
+                "CaptureMouseCursor": false
+            }
+        },
+        "ROS2":
+        {
+            "SteadyClock" : true,
+            "Camera":
+            {
+                "AllowPipelineModification": false
+            }
+        }
+    }
+}
diff --git a/Templates/Ros2ProjectTemplate/template.json b/Templates/Ros2ProjectTemplate/template.json
@@ -1,6 +1,6 @@
 {
     "template_name": "Ros2ProjectTemplate",
-    "version": "2.0.0",
+    "version": "2.0.1",
     "origin": "Open 3D Engine Extras",
     "origin_url": "https://github.com/o3de/o3de-extras",
     "license": "https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate/Template/LICENSE.txt",
@@ -234,6 +234,10 @@
             "file": "Registry/sceneassetimporter.setreg",
             "isTemplated": false
         },
+        {
+            "file": "Registry/ros2.setreg",
+            "isTemplated": false
+        },
         {
             "file": "Resources/GameSDK.ico",
             "isTemplated": false
@@ -557,5 +561,5 @@
         }
     ],
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/ros2projecttemplate-2.0.0-template.zip"
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/ros2projecttemplate-2.0.1-template.zip"
 }
diff --git a/Templates/Ros2RoboticManipulationTemplate/Template/Registry/ros2.setreg b/Templates/Ros2RoboticManipulationTemplate/Template/Registry/ros2.setreg
@@ -0,0 +1,20 @@
+{
+    "O3DE":
+    {
+        "InputSystem":
+        {
+            "Mouse":
+            {
+                "CaptureMouseCursor": false
+            }
+        },
+        "ROS2":
+        {
+            "SteadyClock" : true,
+            "Camera":
+            {
+                "AllowPipelineModification": true
+            }
+        }
+    }
+}