Adjust vehicle dynamic to changes in ROS2 Gem (#221)

* Rework vehicle dynamics.
* Raised a bit COM of both krakens and corrected namespace
   COM was too low causing unnatural behavior in some circumstances

Signed-off-by: Michał Pełka <[email protected]>
Co-authored-by: Paweł Budziszewski <[email protected]>

.gitignore

@@ -20,4 +20,7 @@ server*.cfg
 _savebackup/
 *.swatches
 /imgui.ini
-
+cmake-build-*
+kraken_nav/build
+kraken_nav/install
+kraken_nav/log

Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab

@@ -624,6 +624,10 @@
                         ],
                         "Parent Entity": "Entity_[126373983206044]",
                         "Child Entity": "Entity_[126309558696604]"
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 50.0
                     }
                 },
                 "Component_[3950558941332218098]": {
@@ -1976,6 +1980,10 @@
                     "Angular Limit": {
                         "Positive Limit": 360.0,
                         "Negative Limit": -360.0
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 100.0
                     }
                 },
                 "Component_[6459884325005728245]": {
@@ -2066,6 +2074,10 @@
                     "Angular Limit": {
                         "Positive Limit": 360.0,
                         "Negative Limit": -360.0
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 100.0
                     }
                 },
                 "Component_[16851971225857889294]": {
@@ -2520,7 +2532,7 @@
                             "Index": 1
                         },
                         "Position": [
-                            2.540242910385132,
+                            2.700000047683716,
                             0.0,
                             0.5625920295715332
                         ],
@@ -2542,7 +2554,7 @@
                         "ShapeType": 1,
                         "Box": {
                             "Configuration": [
-                                0.4371989965438843,
+                                0.800000011920929,
                                 0.13190199434757233,
                                 0.05587799847126007
                             ]
@@ -2565,19 +2577,6 @@
                         "CrateDropPoint": "Entity_[5494828217205]"
                     }
                 },
-                "Component_[12633872282053005445]": {
-                    "$type": "GenericComponentWrapper",
-                    "Id": 12633872282053005445,
-                    "m_template": {
-                        "$type": "InputConfigurationComponent",
-                        "Input Event Bindings": {
-                            "assetId": {
-                                "guid": "{D808C6BB-DEA9-518A-ACEC-FA3B781A35FA}"
-                            },
-                            "assetHint": "gem/scripts/mobile_robot_control_keyboard.inputbindings"
-                        }
-                    }
-                },
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                     "$type": "EditorOnlyEntityComponent",
                     "Id": 12724369969007930765
@@ -2655,49 +2654,6 @@
                         "BaseLinkToKinematic": "Entity_[126373983206044]"
                     }
                 },
-                "Component_[17586042212792946952]": {
-                    "$type": "GenericComponentWrapper",
-                    "Id": 17586042212792946952,
-                    "m_template": {
-                        "$type": "VehicleModelComponent",
-                        "VehicleConfiguration": {
-                            "AxlesConfigurations": [
-                                {
-                                    "AxleTag": "FRONT",
-                                    "AxleWheels": [
-                                        "Entity_[126326738565788]",
-                                        "Entity_[126369688238748]"
-                                    ],
-                                    "IsSteering": true
-                                },
-                                {
-                                    "AxleTag": "BACK",
-                                    "AxleWheels": [
-                                        "Entity_[126361098304156]",
-                                        "Entity_[126356803336860]"
-                                    ],
-                                    "IsDrive": true
-                                }
-                            ]
-                        },
-                        "DriveModel": {
-                            "SteeringPID": {
-                                "P": 1000.0,
-                                "Output limit": 200.0
-                            },
-                            "SpeedPID": {
-                                "P": 250.0,
-                                "I": 150.0,
-                                "IMax": 500.0,
-                                "Anti windup": true,
-                                "Output limit": 500.0
-                            }
-                        },
-                        "VehicleModelLimits": {
-                            "SpeedLimit": 3.0
-                        }
-                    }
-                },
                 "Component_[176770212147820291]": {
                     "$type": "EditorColliderComponent",
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@@ -2751,7 +2707,10 @@
                         "Entity_[9058513484485]",
                         "Entity_[5494828217205]",
                         "Entity_[36172097579699]",
-                        "Entity_[453828565735265]"
+                        "Entity_[453828565735265]",
+                        "Instance_[16621539659898]/ContainerEntity",
+                        "Instance_[15809790840954]/ContainerEntity",
+                        "Instance_[16591474888826]/ContainerEntity"
                     ]
                 },
                 "Component_[3226220641517151136]": {
@@ -2791,10 +2750,55 @@
                         }
                     }
                 },
+                "Component_[3769897478237731638]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 3769897478237731638,
+                    "m_template": {
+                        "$type": "AckermannVehicleModelComponent",
+                        "VehicleConfiguration": {
+                            "AxlesConfigurations": [
+                                {
+                                    "AxleTag": "Front",
+                                    "AxleWheels": [
+                                        "Entity_[126326738565788]",
+                                        "Entity_[126369688238748]"
+                                    ],
+                                    "IsSteering": true
+                                },
+                                {
+                                    "AxleTag": "Back",
+                                    "AxleWheels": [
+                                        "Entity_[126361098304156]",
+                                        "Entity_[126356803336860]"
+                                    ],
+                                    "IsDrive": true
+                                }
+                            ]
+                        },
+                        "DriveModel": {
+                            "SteeringPID": {
+                                "P": 10.0
+                            }
+                        }
+                    }
+                },
                 "Component_[3987457873009984691]": {
                     "$type": "EditorInspectorComponent",
                     "Id": 3987457873009984691
                 },
+                "Component_[4070916475902897328]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 4070916475902897328,
+                    "m_template": {
+                        "$type": "InputConfigurationComponent",
+                        "Input Event Bindings": {
+                            "assetId": {
+                                "guid": "{D808C6BB-DEA9-518A-ACEC-FA3B781A35FA}"
+                            },
+                            "assetHint": "gem/scripts/mobile_robot_control_keyboard.inputbindings"
+                        }
+                    }
+                },
                 "Component_[4128152538995544053]": {
                     "$type": "EditorRigidBodyComponent",
                     "Id": 4128152538995544053,
@@ -2806,7 +2810,7 @@
                         "Centre of mass offset": [
                             1.0036380290985107,
                             0.0,
-                            0.0
+                            0.4000000059604645
                         ],
                         "Compute inertia": false,
                         "Inertia tensor": [
@@ -2843,7 +2847,7 @@
                         "Position": [
                             2.197614908218384,
                             0.0,
-                            0.7621089816093445
+                            0.7799999713897705
                         ],
                         "MaterialSlots": {
                             "Slots": [
@@ -2859,7 +2863,7 @@
                             "Configuration": [
                                 0.5833520293235779,
                                 0.5446910262107849,
-                                0.2640030086040497
+                                0.20000000298023224
                             ]
                         }
                     }
@@ -3125,6 +3129,10 @@
                         ],
                         "Parent Entity": "Entity_[126373983206044]",
                         "Child Entity": "Entity_[126382573140636]"
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 50.0
                     }
                 },
                 "Component_[18116517932786798066]": {
@@ -3497,11 +3505,6 @@
                                     "Name": "DefaultMaterial"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfiguration": {
@@ -3737,7 +3740,8 @@
                                         "MaterialAsset": {
                                             "assetId": {
                                                 "guid": "{4DB05AB8-A41A-58CA-9988-6CEEE83A27C3}"
-                                            }
+                                            },
+                                            "assetHint": "assets/applekraken_urdf/meshes/conveyorbelt/conveyorbelt_conveyorbelt.azmaterial"
                                         }
                                     }
                                 }

Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab

@@ -536,8 +536,8 @@
                         ]
                     },
                     "PhysXSpecificConfiguration": {
-                        "SolverPositionIterations": 40,
-                        "SolverVelocityIterations": 15
+                        "SolverPositionIterations": 4,
+                        "SolverVelocityIterations": 1
                     }
                 },
                 "Component_[8160934721586853298]": {
@@ -722,6 +722,10 @@
                         ],
                         "Parent Entity": "Entity_[126373983206044]",
                         "Child Entity": "Entity_[126309558696604]"
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 50.0
                     }
                 },
                 "Component_[3950558941332218098]": {
@@ -2101,7 +2105,11 @@
                 },
                 "Component_[1935418376842285128]": {
                     "$type": "EditorEntitySortComponent",
-                    "Id": 1935418376842285128
+                    "Id": 1935418376842285128,
+                    "Child Entity Order": [
+                        "Entity_[2534338808675]",
+                        "Entity_[2542928743267]"
+                    ]
                 },
                 "Component_[394584207891896443]": {
                     "$type": "AZ::Render::EditorMeshComponent",
@@ -2244,6 +2252,10 @@
                     "Angular Limit": {
                         "Positive Limit": 360.0,
                         "Negative Limit": -360.0
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 100.0
                     }
                 },
                 "Component_[6459884325005728245]": {
@@ -2335,6 +2347,10 @@
                     "Angular Limit": {
                         "Positive Limit": 360.0,
                         "Negative Limit": -360.0
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 100.0
                     }
                 },
                 "Component_[16851971225857889294]": {
@@ -2790,7 +2806,7 @@
                             "Index": 1
                         },
                         "Position": [
-                            2.540242910385132,
+                            2.700000047683716,
                             0.0,
                             0.5625920295715332
                         ],
@@ -2812,26 +2828,13 @@
                         "ShapeType": 1,
                         "Box": {
                             "Configuration": [
-                                0.4371989965438843,
+                                0.800000011920929,
                                 0.13190199434757233,
                                 0.05587799847126007
                             ]
                         }
                     }
                 },
-                "Component_[12369457332725092485]": {
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-                    "Id": 12369457332725092485,
-                    "m_template": {
-                        "$type": "InputConfigurationComponent",
-                        "Input Event Bindings": {
-                            "assetId": {
-                                "guid": "{D808C6BB-DEA9-518A-ACEC-FA3B781A35FA}"
-                            },
-                            "assetHint": "gem/scripts/mobile_robot_control_keyboard.inputbindings"
-                        }
-                    }
-                },
                 "Component_[12567448872384764450]": {
                     "$type": "GenericComponentWrapper",
                     "Id": 12567448872384764450,
@@ -2856,6 +2859,38 @@
                     "$type": "EditorPendingCompositionComponent",
                     "Id": 13857029336701770935
                 },
+                "Component_[14372962472142680156]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 14372962472142680156,
+                    "m_template": {
+                        "$type": "AckermannVehicleModelComponent",
+                        "VehicleConfiguration": {
+                            "AxlesConfigurations": [
+                                {
+                                    "AxleTag": "Front",
+                                    "AxleWheels": [
+                                        "Entity_[126326738565788]",
+                                        "Entity_[126369688238748]"
+                                    ],
+                                    "IsSteering": true
+                                },
+                                {
+                                    "AxleTag": "Back",
+                                    "AxleWheels": [
+                                        "Entity_[126356803336860]",
+                                        "Entity_[126361098304156]"
+                                    ],
+                                    "IsDrive": true
+                                }
+                            ]
+                        },
+                        "DriveModel": {
+                            "SteeringPID": {
+                                "P": 5.0
+                            }
+                        }
+                    }
+                },
                 "Component_[15332622959147885179]": {
                     "$type": "EditorEntityIconComponent",
                     "Id": 15332622959147885179
@@ -2904,53 +2939,8 @@
                         "$type": "KrakenEffectorComponent",
                         "ReachEntity": "Entity_[9058513484485]",
                         "ManipulatorEntity": "Entity_[126373983206044]",
-                        "AppleProbe": "Entity_[49624638919053]",
                         "RootManipulatorFreeze": "",
-                        "BaseLinkToKinematic": "Entity_[126373983206044]",
-                        "RestEntity": "Entity_[50844409631117]"
-                    }
-                },
-                "Component_[17586042212792946952]": {
-                    "$type": "GenericComponentWrapper",
-                    "Id": 17586042212792946952,
-                    "m_template": {
-                        "$type": "VehicleModelComponent",
-                        "VehicleConfiguration": {
-                            "AxlesConfigurations": [
-                                {
-                                    "AxleTag": "FRONT",
-                                    "AxleWheels": [
-                                        "Entity_[126326738565788]",
-                                        "Entity_[126369688238748]"
-                                    ],
-                                    "IsSteering": true
-                                },
-                                {
-                                    "AxleTag": "BACK",
-                                    "AxleWheels": [
-                                        "Entity_[126361098304156]",
-                                        "Entity_[126356803336860]"
-                                    ],
-                                    "IsDrive": true
-                                }
-                            ]
-                        },
-                        "DriveModel": {
-                            "SteeringPID": {
-                                "P": 1000.0,
-                                "Output limit": 200.0
-                            },
-                            "SpeedPID": {
-                                "P": 250.0,
-                                "I": 150.0,
-                                "IMax": 500.0,
-                                "Anti windup": true,
-                                "Output limit": 500.0
-                            }
-                        },
-                        "VehicleModelLimits": {
-                            "SpeedLimit": 3.0
-                        }
+                        "BaseLinkToKinematic": "Entity_[126373983206044]"
                     }
                 },
                 "Component_[176770212147820291]": {
@@ -3079,7 +3069,7 @@
                         "Centre of mass offset": [
                             1.0036380290985107,
                             0.0,
-                            0.0
+                            0.4000000059604645
                         ],
                         "Compute inertia": false,
                         "Inertia tensor": [
@@ -3109,7 +3099,7 @@
                         "Position": [
                             2.197614908218384,
                             0.0,
-                            0.7621089816093445
+                            0.7799999713897705
                         ],
                         "MaterialSlots": {
                             "Slots": [
@@ -3125,7 +3115,7 @@
                             "Configuration": [
                                 0.5833520293235779,
                                 0.5446910262107849,
-                                0.2640030086040497
+                                0.20000000298023224
                             ]
                         }
                     }
@@ -3141,6 +3131,19 @@
                         "Frame Name": "base_link"
                     }
                 },
+                "Component_[7284699326735359369]": {
+                    "$type": "GenericComponentWrapper",
+                    "Id": 7284699326735359369,
+                    "m_template": {
+                        "$type": "InputConfigurationComponent",
+                        "Input Event Bindings": {
+                            "assetId": {
+                                "guid": "{D808C6BB-DEA9-518A-ACEC-FA3B781A35FA}"
+                            },
+                            "assetHint": "gem/scripts/mobile_robot_control_keyboard.inputbindings"
+                        }
+                    }
+                },
                 "Component_[7542806593715109284]": {
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 7542806593715109284
@@ -3391,6 +3394,10 @@
                         ],
                         "Parent Entity": "Entity_[126373983206044]",
                         "Child Entity": "Entity_[126382573140636]"
+                    },
+                    "Motor": {
+                        "UseMotor": true,
+                        "ForceLimit": 50.0
                     }
                 },
                 "Component_[18116517932786798066]": {
@@ -3886,7 +3893,6 @@
                 "Component_[4717135159086115019]": {
                     "$type": "EditorBoxShapeComponent",
                     "Id": 4717135159086115019,
-                    "GameView": false,
                     "ShapeColor": [
                         1.0,
                         0.0,
@@ -4258,11 +4264,6 @@
                                     "Name": "DefaultMaterial"
                                 }
                             ]
-                        },
-                        "MaterialSelection": {
-                            "MaterialIds": [
-                                {}
-                            ]
                         }
                     },
                     "ShapeConfiguration": {
@@ -4684,6 +4685,14 @@
                     "$type": "EditorDisabledCompositionComponent",
                     "Id": 3266432004800697983
                 },
+                "Component_[5589806606209403424]": {
+                    "$type": "EditorFixedJointComponent",
+                    "Id": 5589806606209403424,
+                    "Configuration": {
+                        "Parent Entity": "Entity_[126300968762012]",
+                        "Child Entity": "Entity_[49624638919053]"
+                    }
+                },
                 "Component_[6394972190778556843]": {
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@@ -4696,14 +4705,6 @@
                     "$type": "EditorEntityIconComponent",
                     "Id": 9476603463300257200
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-                "Component_[5589806606209403424]": {
-                    "$type": "EditorFixedJointComponent",
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                     "$type": "EditorRigidBodyComponent",
                     "Id": 9950297320598638205,
@@ -4742,7 +4743,7 @@
                             ]
                         }
                     },
-                "ShapeConfiguration": {
+                    "ShapeConfiguration": {
                         "ShapeType": 2,
                         "Capsule": {
                             "Height": 0.2000001221895218,
@@ -4765,7 +4766,6 @@
                 "Component_[17927326201704032634]": {
                     "$type": "EditorBoxShapeComponent",
                     "Id": 17927326201704032634,
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                         0.0,

Project/Gem/Source/ApplePicker/KrakenEffectorComponent.cpp

@@ -264,7 +264,7 @@ namespace AppleKraken
             }
             for (auto& descadant : descendants)
             {
-                using VehicleBus = VehicleDynamics::VehicleInputControlRequestBus;
+                using VehicleBus = ROS2::VehicleDynamics::VehicleInputControlRequestBus;
                 if (locked)
                 {
                     // Lock manipulator, make base_link not kinematic anymore

Project/Prefabs/GroundAckermannTest.prefab

@@ -1,212 +0,0 @@
-{
-    "ContainerEntity": {
-        "Id": "ContainerEntity",
-        "Name": "GroundAckermannTest",
-        "Components": {
-            "Component_[10531416607709390088]": {
-                "$type": "EditorEntitySortComponent",
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-            },
-            "Component_[7387102437336072655]": {
-                "$type": "EditorVisibilityComponent",
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-        }
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-    "Entities": {
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-            "Name": "Ground",
-            "Components": {
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-                    "m_template": {
-                        "$type": "AckermannControlComponent"
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