Merge remote-tracking branch 'origin/main' into simple_grass

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Project/Gem/Source/ApplePicker/ApplePickerComponent.cpp

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+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+
+#include "ApplePickerComponent.h"
+#include <AzCore/Serialization/EditContext.h>
+#include <AzCore/Serialization/EditContextConstants.inl>
+
+namespace AppleKraken
+{
+    namespace Internal
+    {
+        AZStd::string TaskString(const PickAppleTask& task)
+        {
+            if (!task.m_appleEntityId.IsValid())
+            {
+                return "|Task for an unspecified apple|";
+            }
+
+            return AZStd::string::format("|Task for entity id %s|", task.m_appleEntityId.ToString().c_str());
+        }
+
+        AZStd::string CurrentTaskString(const AZStd::queue<PickAppleTask>& taskQueue)
+        {
+            if (taskQueue.empty())
+            {
+                return "|No task, pick queue empty!|";
+            }
+
+            const auto& currentTask = taskQueue.front();
+            return TaskString(currentTask);
+        }
+    } // namespace Internal
+
+    void ApplePickerComponent::StartAutomatedOperation()
+    {
+    }
+
+    float ApplePickerComponent::ReportProgress()
+    {
+        return 0.0f;
+    }
+
+    void ApplePickerComponent::Activate()
+    {
+    }
+
+    void ApplePickerComponent::Deactivate()
+    {
+    }
+
+    void ApplePickerComponent::Reflect(AZ::ReflectContext* context)
+    {
+        if (AZ::SerializeContext* serialize = azrtti_cast<AZ::SerializeContext*>(context))
+        {
+            serialize->Class<ApplePickerComponent, AZ::Component>()->Version(1);
+            if (AZ::EditContext* ec = serialize->GetEditContext())
+            {
+                ec->Class<ApplePickerComponent>("Apple picking component", "A demo component for apple picking")
+                    ->ClassElement(AZ::Edit::ClassElements::EditorData, "")
+                    ->Attribute(AZ::Edit::Attributes::AppearsInAddComponentMenu, AZ_CRC("Game"))
+                    ->Attribute(AZ::Edit::Attributes::Category, "AppleKraken");
+            }
+        }
+    }
+
+    void ApplePickerComponent::ApplePicked()
+    {
+        AZ_TracePrintf("ApplePicker", "%s. Picked apple\n", Internal::CurrentTaskString(m_currentAppleTasks).c_str());
+    }
+
+    void ApplePickerComponent::AppleRetrieved()
+    {
+        AZ_TracePrintf(
+            "ApplePicker", "%s. An apple has been retrieved and stored\n", Internal::CurrentTaskString(m_currentAppleTasks).c_str());
+    }
+
+    void ApplePickerComponent::PickingFailed(const AZStd::string& reason)
+    {
+        AZ_TracePrintf(
+            "ApplePicker", "%s. Picking failed due to: %s\n", Internal::CurrentTaskString(m_currentAppleTasks).c_str(), reason.c_str());
+    }
+} // namespace AppleKraken

Project/Gem/Source/ApplePicker/ApplePickerComponent.h

@@ -0,0 +1,46 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include "ApplePickingNotifications.h"
+#include "ApplePickingRequests.h"
+#include <AzCore/Component/Component.h>
+// #include <vision_msgs/msgs/detection_3d_array.h>
+
+namespace AppleKraken
+{
+    //! Demo component handling orchestration of apple picking
+    class ApplePickerComponent
+        : public AZ::Component
+        , private ApplePickingNotificationBus::Handler // Probably could use TickBus as well for timeouts
+
+    {
+    public:
+        AZ_COMPONENT(ApplePickerComponent, "{E9E83A4A-31A4-4E7A-AF88-7565AC8B9F27}", AZ::Component);
+        ApplePickerComponent() = default;
+        void Activate() override;
+        void Deactivate() override;
+        static void Reflect(AZ::ReflectContext* context);
+
+        //! Detect and pick all apples in manipulator range.
+        void StartAutomatedOperation();
+
+        //! Report overall progress of gathering task.
+        //! @returns how much of the task is complete (0: nothing, 1: all of it). The task is completed when all reachable apples are
+        //! gathered (or had a failure) and the effector is in IDLE state.
+        float ReportProgress();
+
+    private:
+        void ApplePicked() override;
+        void AppleRetrieved() override;
+        void PickingFailed(const AZStd::string& reason) override;
+
+        AZ::Obb m_gatheringArea;
+        AZStd::queue<PickAppleTask> m_currentAppleTasks; //! Populated in StartAutomatedOperation. Tasks are popped when completed or failed.
+    };
+} // namespace AppleKraken

Project/Gem/Source/ApplePicker/ApplePickingNotifications.h

@@ -0,0 +1,32 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include "PickingStructs.h"
+#include <AzCore/EBus/EBus.h>
+#include <AzCore/RTTI/BehaviorContext.h>
+
+namespace AppleKraken
+{
+    //! Notifications related to apple picking.
+    class ApplePickingNotifications : public AZ::EBusTraits
+    {
+    public:
+        //! An apple was successfully picked.
+        virtual void ApplePicked() = 0;
+
+        //! An apple was successfully retrieved to storage and can count as harvested.
+        virtual void AppleRetrieved() = 0;
+
+        //! Apple picking failed
+        //! @param reason reason for failure, e.g. "out of reach", "apple not found", "approach obstructed", etc.
+        virtual void PickingFailed(const AZStd::string& reason) = 0;
+    };
+
+    using ApplePickingNotificationBus = AZ::EBus<ApplePickingNotifications>;
+} // namespace AppleKraken

Project/Gem/Source/ApplePicker/ApplePickingRequests.h

@@ -0,0 +1,58 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include "PickingStructs.h"
+#include <AzCore/EBus/EBus.h>
+#include <AzCore/Interface/Interface.h>
+#include <AzCore/Math/Aabb.h>
+#include <AzCore/Math/Obb.h>
+
+namespace AppleKraken
+{
+    //! Requests for apple picking effector (manipulator)
+    class ApplePickingRequests
+    {
+    public:
+        AZ_RTTI(ApplePickingRequests, "{E70BC163-4AE0-4660-9769-1C3C7C3493A6}");
+        virtual ~ApplePickingRequests() = default;
+
+        //! Request to prepare for incoming apple picking tasks. Could be empty if manipulator is always ready.
+        virtual void PrepareForPicking() = 0;
+
+        //! PickApple by its global bounding box.
+        //! @param appleTask task structure specifying which apple to pick.
+        //! This task should only be issued if effector state is PREPARED.
+        //! Note that the task can get a while and result will be signalled through ApplePickingNotifications.
+        //! Progress can be checked @see GetEffectorState.
+        //! This function returns immediately.
+        virtual void PickApple(const PickAppleTask& appleTask) = 0;
+
+        //! Request to store currently held apple and retrieve manipulator into a travel position.
+        //! This function returns immediately. The effector should respond by transitioning to an IDLE state.
+        virtual void FinishPicking() = 0;
+
+        //! Request current effector state.
+        //! This request should be called to inform about whether a task can be issued and whether the robot could start moving.
+        //! @returns current state of the effector.
+        virtual PickingState GetEffectorState() = 0;
+
+        //! Return area covered by effector.
+        //! @returns a global object bounding box which is a region where apples can be picked.
+        virtual AZ::Obb GetEffectorReachArea() = 0;
+    };
+
+    class ApplePickingBusTraits : public AZ::EBusTraits
+    {
+    public:
+        static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Multiple;
+        static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single;
+    };
+    using ApplePickingRequestBus = AZ::EBus<ApplePickingRequests, ApplePickingBusTraits>;
+    using ApplePickingInterface = AZ::Interface<ApplePickingRequests>;
+} // namespace AppleKraken

Project/Gem/Source/ApplePicker/PickingStructs.h

@@ -0,0 +1,39 @@
+/*
+ * Copyright (c) Contributors to the Open 3D Engine Project.
+ * For complete copyright and license terms please see the LICENSE at the root of this distribution.
+ *
+ * SPDX-License-Identifier: Apache-2.0 OR MIT
+ *
+ */
+#pragma once
+
+#include <AzCore/Component/EntityId.h>
+#include <AzCore/Math/Aabb.h>
+
+namespace AppleKraken
+{
+    //! Important states of the Kraken effector (manipulator with a vacuum nozzle)
+    enum class EffectorState
+    {
+        IDLE = 0, //!< Idle state / position, suitable for robot moving around the environment.
+        PREPARED = 10, //!< State and position which are ready for picking tasks.
+        PICKING = 20, //!< The effector is on its way to pick fruit.
+        RETRIEVING = 30, //!< The effector is retrieving a fruit to storage position.
+        INVALID = -1 //!< Invalid state. Requires an additional context that could help user understand what happened. @see PickingState.
+    };
+
+    //! A structure holding a state of effector, including optional progress and descriptive information.
+    struct PickingState
+    {
+        EffectorState m_effectorState = EffectorState::IDLE; //!< Current state of effector.
+        float m_taskProgress = 0.0f; //!< Optional field signalling progress within current state (picking/retrieving).
+        AZStd::string m_description; //!< Optional descriptive field to inform the user.
+    };
+
+    //! A task to pick a single apple.
+    struct PickAppleTask
+    {
+        AZ::EntityId m_appleEntityId; //!< EntityId of the apple. Can be Invalid if the information is not available (check IsValid()).
+        AZ::Aabb m_appleBoundingBox; //!< Bounding box of the apple to pick.
+    };
+} // namespace AppleKraken

Project/Gem/roscondemo_files.cmake

@@ -1,7 +1,12 @@
 
 set(FILES
-    Include/ROSConDemo/ROSConDemoBus.h
-    Source/ROSConDemoSystemComponent.cpp
-    Source/ROSConDemoSystemComponent.h
-    enabled_gems.cmake
-)
+        Include/ROSConDemo/ROSConDemoBus.h
+        Source/ApplePicker/ApplePickerComponent.cpp
+        Source/ApplePicker/ApplePickerComponent.h
+        Source/ApplePicker/ApplePickingNotifications.h
+        Source/ApplePicker/ApplePickingRequests.h
+        Source/ApplePicker/PickingStructs.h
+        Source/ROSConDemoSystemComponent.cpp
+        Source/ROSConDemoSystemComponent.h
+        enabled_gems.cmake
+        )

Project/Levels/Main/Main.prefab

@@ -70,7 +70,15 @@
                     "Entity_[7184523221940590]",
                     "Entity_[11555842151561582]",
                     "Entity_[11574632633481582]",
-                    "Entity_[17223493880265070]"
+                    "Entity_[17223493880265070]",
+                    "Instance_[449912755703933]/ContainerEntity",
+                    "Instance_[450015834919037]/ContainerEntity",
+                    "Instance_[442862770928318]/ContainerEntity",
+                    "Instance_[442931490405054]/ContainerEntity",
+                    "Instance_[442987324979902]/ContainerEntity",
+                    "Instance_[442901425633982]/ContainerEntity",
+                    "Instance_[442957260208830]/ContainerEntity",
+                    "Instance_[442888540732094]/ContainerEntity"
                 ]
             },
             "Component_[14409887347711167786]": {
@@ -348,7 +356,9 @@
                             "IntensityMode": 2,
                             "Intensity": 15.0,
                             "CameraEntityId": "Entity_[1163754259827]",
-                            "IsCascadeCorrectionEnabled": true
+                            "IsCascadeCorrectionEnabled": true,
+                            "ShadowFilterMethod": 1,
+                            "PcfFilteringSampleCount": 4
                         }
                     }
                 },
@@ -507,7 +517,40 @@
                 },
                 "Component_[13711420870643673468]": {
                     "$type": "EditorDisabledCompositionComponent",
-                    "Id": 13711420870643673468
+                    "Id": 13711420870643673468,
+                    "DisabledComponents": [
+                        {
+                            "$type": "AZ::Render::EditorMeshComponent",
+                            "Id": 5675108321710651991,
+                            "Controller": {
+                                "Configuration": {
+                                    "ModelAsset": {
+                                        "assetId": {
+                                            "guid": "{0CD745C0-6AA8-569A-A68A-73A3270986C4}",
+                                            "subId": 277889906
+                                        },
+                                        "assetHint": "objects/groudplane/groundplane_512x512m.azmodel"
+                                    }
+                                }
+                            }
+                        },
+                        {
+                            "$type": "EditorMaterialComponent",
+                            "Id": 5182430712893438093,
+                            "Controller": {
+                                "Configuration": {
+                                    "materials": [
+                                        {
+                                            "Key": {
+                                                "materialSlotStableId": 803645540
+                                            },
+                                            "Value": {}
+                                        }
+                                    ]
+                                }
+                            }
+                        }
+                    ]
                 },
                 "Component_[138002849734991713]": {
                     "$type": "EditorOnlyEntityComponent",
@@ -518,6 +561,11 @@
                     "Id": 16578565737331764849,
                     "Parent Entity": "Entity_[1176639161715]",
                     "Transform Data": {
+                        "Translate": [
+                            0.0,
+                            0.0,
+                            0.007371678948402405
+                        ],
                         "UniformScale": 4.943045139312744
                     }
                 },
@@ -525,22 +573,6 @@
                     "$type": "EditorInspectorComponent",
                     "Id": 16919232076966545697
                 },
-                "Component_[5182430712893438093]": {
-                    "$type": "EditorMaterialComponent",
-                    "Id": 5182430712893438093,
-                    "Controller": {
-                        "Configuration": {
-                            "materials": [
-                                {
-                                    "Key": {
-                                        "materialSlotStableId": 803645540
-                                    },
-                                    "Value": {}
-                                }
-                            ]
-                        }
-                    }
-                },
                 "Component_[5245524694917323904]": {
                     "$type": "EditorColliderComponent",
                     "Id": 5245524694917323904,
@@ -577,21 +609,6 @@
                         "LocallyEnabled": false
                     }
                 },
-                "Component_[5675108321710651991]": {
-                    "$type": "AZ::Render::EditorMeshComponent",
-                    "Id": 5675108321710651991,
-                    "Controller": {
-                        "Configuration": {
-                            "ModelAsset": {
-                                "assetId": {
-                                    "guid": "{0CD745C0-6AA8-569A-A68A-73A3270986C4}",
-                                    "subId": 277889906
-                                },
-                                "assetHint": "objects/groudplane/groundplane_512x512m.azmodel"
-                            }
-                        }
-                    }
-                },
                 "Component_[5681893399601237518]": {
                     "$type": "EditorEntitySortComponent",
                     "Id": 5681893399601237518
@@ -624,7 +641,7 @@
                     "Controller": {
                         "Configuration": {
                             "Field of View": 55.0,
-                            "EditorEntityId": 11454094176703988095
+                            "EditorEntityId": 11586138576425755054
                         }
                     }
                 },
@@ -642,14 +659,14 @@
                     "Parent Entity": "Entity_[1176639161715]",
                     "Transform Data": {
                         "Translate": [
-                            -0.5225131511688232,
-                            -1.7553635835647583,
-                            1.8493926525115967
+                            1.4898980855941772,
+                            -7.517748832702637,
+                            4.849825859069824
                         ],
                         "Rotate": [
-                            -7.519161701202393,
-                            -11.346833229064941,
-                            56.14337158203125
+                            -12.66835880279541,
+                            -9.33165454864502,
+                            35.80552291870117
                         ]
                     }
                 },
@@ -7817,7 +7834,7 @@
                                 },
                                 "assetHint": "reflectionprobes/refprobmain__c4ee43e2-3ffe-4955-9dee-679ca04c2a53__iblspecularcm256.dds.streamingimage"
                             },
-                            "EntityId": 18039922229093127648
+                            "EntityId": 2107272255215807581
                         }
                     },
                     "useBakedCubemap": false,
@@ -15133,7 +15150,6 @@
                         "Instance_[9931082981110510]/ContainerEntity",
                         "Instance_[11195955144749806]/ContainerEntity",
                         "Instance_[10979093656040174]/ContainerEntity",
-                        "Instance_[9579080346432238]/ContainerEntity",
                         "Instance_[11195998094422766]/ContainerEntity",
                         "Instance_[11196010979324654]/ContainerEntity",
                         "Instance_[11196006684357358]/ContainerEntity",
@@ -15764,11 +15780,6 @@
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@@ -16004,11 +16015,6 @@
                     "path": "/ContainerEntity/Components/Component_[17478803486732630354]/Parent Entity",
                     "value": "../Entity_[9579063166563054]"
                 },
-                {
-                    "op": "replace",
-                    "path": "/ContainerEntity/Components/Component_[17478803486732630354]/Transform Data/Translate/0",
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-                },
                 {
                     "op": "replace",
                     "path": "/ContainerEntity/Components/Component_[17478803486732630354]/Transform Data/Translate/1",
@@ -16436,6 +16442,241 @@
                 }
             ]
         },
+        "Instance_[442862770928318]": {
+            "Source": "Prefabs/Barrel.prefab",
+            "Patches": [
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+                    "op": "replace",
+                    "path": "/ContainerEntity/Components/Component_[6372788350921479434]/Parent Entity",
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+                    "op": "replace",
+                    "path": "/ContainerEntity/Components/Component_[6372788350921479434]/Transform Data/Translate/1",
+                    "value": 44.92060852050781
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+                    "op": "replace",
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+                    "value": -0.01131916046142578
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+                    "value": -59.93177032470703
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Project/Prefabs/AppleTree.prefab

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Project/Prefabs/AppleTreeActor.prefab

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Project/Prefabs/Apple_Crate.prefab

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Project/Prefabs/Backhground_Mountains.prefab

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Project/Prefabs/Barn.prefab

@@ -72,7 +72,8 @@
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Project/Prefabs/Crate.prefab

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Project/Prefabs/FenceTile.prefab

@@ -89,7 +89,8 @@
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Project/Prefabs/FlowerOne.prefab

@@ -20,10 +20,6 @@
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Project/Prefabs/FlowerTwo.prefab

@@ -35,10 +35,6 @@
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@@ -139,6 +131,7 @@
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Project/Prefabs/GrassTileLageDry.prefab

@@ -11,10 +11,6 @@
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Project/Prefabs/GrassTileMedDry.prefab

@@ -3,10 +3,6 @@
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Project/Prefabs/GrassTileSmall.prefab

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Project/Prefabs/GrassTileSmallDry.prefab

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Project/Prefabs/OakTree.prefab

@@ -81,7 +81,8 @@
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Project/Prefabs/PowerLines.prefab

@@ -172,7 +172,8 @@
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Project/Prefabs/WagonWheel.prefab

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Project/Prefabs/WaterTower.prefab

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Project/Prefabs/WindMill.prefab

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Project/scriptCanvas/WindMill.scriptcanvas

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README.md

@@ -7,6 +7,12 @@ For information about contributing to Open 3D Engine, visit [https://o3de.org/do
 
 ## Download and Install
 
+### Additional ROS 2 packages
+
+This project uses Vision messages, which can be obtained:
+
+`sudo apt install ros-${ROS_DISTRO}-vision-msgs`
+
 ### Clone the repository 
 
 ```shell