A new gem ROS2SampleRobots replacing ProteusRobot and RosRobotSample gems (#857)

* Moved robots from ProteusRobot RosRobotSample gems to a new gem
* Updated templates to use the ROS2SampleRobots instead of ProteusRobot and RosRobotSample gems
* Removed ProteusRobot and RosRobotSample gems, replaced by ROS2SampleRobots

Signed-off-by: Paweł Budziszewski <[email protected]>
Signed-off-by: Jan Hanca <[email protected]>
Co-authored-by: Jan Hanca <[email protected]>

.gitattributes

@@ -124,8 +124,7 @@ Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/Lucy_low.fbx filter=lf
 Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/marmoset_bake.tbscene filter=lfs diff=lfs merge=lfs -text
 Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/Brass/brass_bake.spp filter=lfs diff=lfs merge=lfs -text
 Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/stone/stone_bake.spp filter=lfs diff=lfs merge=lfs -text
-Gems/ProteusRobot/docs/images/*.png filter= diff= merge= -text
-Gems/RosRobotSample/docs/images/*.png filter= diff= merge= -text
+Gems/ROS2SampleRobots/docs/images/*.png filter= diff= merge= -text
 Gems/WarehouseAutomation/docs/images/*.png filter= diff= merge= -text
 Gems/WarehouseAssets/docs/images/*.png filter= diff= merge= -text
 Gems/WarehouseSample/docs/images/*.png filter= diff= merge= -text

Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Proteus.material

@@ -1,18 +0,0 @@
-{
-    "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
-    "materialTypeVersion": 5,
-    "propertyValues": {
-        "baseColor.textureMap": "../Textures/Proteus_BaseMap.png",
-        "emissive.enable": true,
-        "emissive.intensity": 7.420000076293945,
-        "emissive.textureMap": "../Textures/Lights_Emissive.png",
-        "metallic.textureMap": "../Textures/Proteus_MaskMap_R.png",
-        "normal.textureMap": "../Textures/Proteus_Normal.png",
-        "opacity.factor": 1.0,
-        "roughness.factor": 0.5,
-        "roughness.lowerBound": 0.49000000953674316,
-        "roughness.textureMap": "../Textures/Proteus_MaskMap_A.png",
-        "roughness.upperBound": 0.15000000596046448,
-        "specularF0.factor": 0.5099999904632568
-    }
-}

Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Side_Lights.material

@@ -1,13 +0,0 @@
-{
-    "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
-    "materialTypeVersion": 5,
-    "propertyValues": {
-        "baseColor.textureMap": "../Textures/Lights_Emissive.png",
-        "emissive.enable": true,
-        "emissive.intensity": 7.0,
-        "emissive.textureMap": "../Textures/Lights_Emissive.png",
-        "normal.textureMap": "../Textures/Proteus_Normal.png",
-        "opacity.factor": 1.0,
-        "roughness.factor": 0.5
-    }
-}

Gems/ProteusRobot/Assets/Materials/Proteus_chassis_wheel.material

@@ -1,19 +0,0 @@
-{
-    "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
-    "materialTypeVersion": 5,
-    "propertyValues": {
-        "baseColor.textureBlendMode": "LinearLight",
-        "baseColor.textureMap": "../Textures/Proteus_BaseMap.png",
-        "emissive.enable": true,
-        "emissive.intensity": 7.420000076293945,
-        "emissive.textureMap": "../Textures/Lights_Emissive.png",
-        "metallic.textureMap": "../Textures/Proteus_MaskMap_R.png",
-        "normal.textureMap": "../Textures/Proteus_Normal.png",
-        "opacity.factor": 1.0,
-        "roughness.factor": 0.5,
-        "roughness.lowerBound": 0.20000000298023224,
-        "roughness.textureMap": "../Textures/Proteus_MaskMap_A.png",
-        "roughness.upperBound": 0.9399999976158142,
-        "specularF0.factor": 0.5099999904632568
-    }
-}

Gems/ProteusRobot/Assets/Proteus2_chassis.fbx

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Gems/ProteusRobot/Assets/Proteus2_lift.fbx

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Gems/ProteusRobot/Assets/Proteus_chassis.fbx

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Gems/ProteusRobot/Assets/Proteus_wheel.fbx

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Gems/ProteusRobot/Assets/Textures/Proteus_MaskMap.png

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Gems/ProteusRobot/Assets/Textures/Proteus_MaskMap_A.png

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Gems/ProteusRobot/README.md

@@ -1,30 +0,0 @@
-[![Apache License, Version 2.0][apache_shield]][apache]
-
-# Proteus Robot Gem for Open 3D Engine (O3DE)
-
-## Requirements
-- Any O3DE project with the [ROS 2 Gem](https://docs.o3de.org/docs/user-guide/interactivity/robotics/) enabled.
-
-Please refer to [O3DE documentation](https://docs.o3de.org/docs/user-guide/gems/) to learn more about Gems and about registering Gems in the system and O3DE projects.
-
-## Description
-This is an Asset Gem. It contains a simplified model of [Proteus Robot](https://robotsguide.com/robots/proteus) - an autonomous mobile robot that can pick up, transport, and drop off containers. It is delivered as a ready-to-use O3DE prefab, `Proteus.prefab`, containing visual models, physics and the following ROS 2 components:
-- `ROS2 Frame`
-- `ROS2 Robot Control`
-- `ROS2 Skid Steering Twist Control`
-- `ROS2 Lidar Sensor`
-
-Additionally, the model is equipped with links that are suitable for adding `Camera` and `Imu` sensors.
-
-The robot publishes Lidar Sensor's output on the`/base_link/pc` ROS 2 topic and can be driven using the `/base_link/cmd_vel` ROS 2 topic. An example of its use can be found in [ROS 2 Project Template](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2FleetRobotTemplate).
-
-## Screenshots
-![](docs/images/front.png)
-![](docs/images/back.png)
-
-## Acknowledgments
-This work is licensed under [Apache License, Version 2.0][apache]. You may elect at your option to use the [MIT License][mit] instead. Contributions must be made under both licenses.
-
-[apache]: https://opensource.org/licenses/Apache-2.0
-[mit]: https://opensource.org/licenses/MIT
-[apache_shield]: https://img.shields.io/badge/License-Apache_2.0-blue.svg

Gems/ProteusRobot/Registry/assetprocessor_settings.setreg

@@ -1,18 +0,0 @@
-{
-    "Amazon": {
-        "AssetProcessor": {
-            "Settings": {
-                "ScanFolder ProteusRobot/Assets": {
-                    "watch": "@GEMROOT:ProteusRobot@/Assets",
-                    "recursive": 1,
-                    "order": 101
-                },
-                "ScanFolder ProteusRobot/Registry": {
-                    "watch": "@GEMROOT:ProteusRobot@/Registry",
-                    "recursive": 1,
-                    "order": 102
-                }
-            }
-        }
-    }
-}

Gems/ProteusRobot/preview.png

@@ -1,3 +0,0 @@
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-size 19282

Gems/ROS2SampleRobots/Assets/Components/SlamtecRPLidar/Models/Materials/SlamtecRPLidarS1_Black.material

@@ -0,0 +1,22 @@
+{
+    "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
+    "materialTypeVersion": 5,
+    "propertyValues": {
+        "baseColor.color": [
+            0.020004577934741974,
+            0.020004577934741974,
+            0.020004577934741974,
+            1.0
+        ],
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+            0.0,
+            0.0,
+            1.0
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+        "metallic.factor": 0.18000000715255737,
+        "opacity.factor": 1.0,
+        "roughness.factor": 0.27000001072883606,
+        "specularF0.factor": 0.6000000238418579
+    }
+}

Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/velodyne_puck_Blue.material → Gems/ROS2SampleRobots/Assets/Components/VelodynePuckLidar/Models/Materials/VelodynePuck_Blue.material

@@ -1,5 +1,5 @@
 {
-    "materialType": "@projectroot@/Cache/Intermediate Assets/materials/types/standardpbr_generated.materialtype",
+    "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
     "materialTypeVersion": 5,
     "propertyValues": {
         "baseColor.color": [
@@ -14,9 +14,9 @@
             0.0,
             1.0
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+        "metallic.factor": 0.3700000047683716,
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+        "roughness.factor": 0.12999999523162842,
         "specularF0.factor": 1.0
     }
 }

Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Materials/Proteus.material

@@ -0,0 +1,16 @@
+{
+    "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
+    "materialTypeVersion": 5,
+    "propertyValues": {
+        "baseColor.textureMap": "Textures/Proteus_Basecolor.png",
+        "emissive.enable": true,
+        "emissive.intensity": 7.420000076293945,
+        "emissive.textureMap": "Textures/Proteus_Emissive.png",
+        "metallic.textureMap": "Textures/Proteus_Metallic.png",
+        "normal.textureMap": "Textures/Proteus_Normal.png",
+        "opacity.factor": 1.0,
+        "roughness.factor": 0.5,
+        "roughness.textureMap": "Textures/Proteus_Roughness.png",
+        "specularF0.factor": 0.5099999904632568
+    }
+}

Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Double_Lights.material → Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Materials/Proteus_FrontDoubleLights.material

@@ -2,11 +2,11 @@
     "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
     "materialTypeVersion": 5,
     "propertyValues": {
-        "baseColor.textureMap": "../Textures/Lights_Emissive.png",
+        "baseColor.textureMap": "Textures/Proteus_Emissive.png",
         "emissive.enable": true,
         "emissive.intensity": 7.0,
-        "emissive.textureMap": "../Textures/Lights_Emissive.png",
-        "normal.textureMap": "../Textures/Proteus_Normal.png",
+        "emissive.textureMap": "Textures/Proteus_Emissive.png",
+        "normal.textureMap": "Textures/Proteus_Normal.png",
         "opacity.factor": 1.0,
         "roughness.factor": 0.5
     }

Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Front_Light.material → Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Materials/Proteus_FrontLight.material

@@ -2,11 +2,11 @@
     "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
     "materialTypeVersion": 5,
     "propertyValues": {
-        "baseColor.textureMap": "../Textures/Lights_Emissive.png",
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         "emissive.enable": true,
         "emissive.intensity": 7.0,
-        "emissive.textureMap": "../Textures/Lights_Emissive.png",
-        "normal.textureMap": "../Textures/Proteus_Normal.png",
+        "emissive.textureMap": "Textures/Proteus_Emissive.png",
+        "normal.textureMap": "Textures/Proteus_Normal.png",
         "opacity.factor": 1.0,
         "roughness.factor": 0.5
     }

Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Indicator.material → Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Materials/Proteus_Indicator.material

@@ -2,11 +2,11 @@
     "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
     "materialTypeVersion": 5,
     "propertyValues": {
-        "baseColor.textureMap": "../Textures/Lights_Emissive.png",
+        "baseColor.textureMap": "Textures/Proteus_Emissive.png",
         "emissive.enable": true,
         "emissive.intensity": 7.0,
-        "emissive.textureMap": "../Textures/Lights_Emissive.png",
-        "normal.textureMap": "../Textures/Proteus_Normal.png",
+        "emissive.textureMap": "Textures/Proteus_Emissive.png",
+        "normal.textureMap": "Textures/Proteus_Normal.png",
         "opacity.factor": 1.0,
         "roughness.factor": 0.5
     }

Gems/ProteusRobot/Assets/Materials/Proteus_chassis_Rear_Lights.material → Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Materials/Proteus_RearLights.material

@@ -2,11 +2,11 @@
     "materialType": "@gemroot:Atom_Feature_Common@/Assets/Materials/Types/StandardPBR.materialtype",
     "materialTypeVersion": 5,
     "propertyValues": {
-        "baseColor.textureMap": "../Textures/Lights_Emissive.png",
+        "baseColor.textureMap": "Textures/Proteus_Emissive.png",
         "emissive.enable": true,
         "emissive.intensity": 7.0,
-        "emissive.textureMap": "../Textures/Lights_Emissive.png",
-        "normal.textureMap": "../Textures/Proteus_Normal.png",
+        "emissive.textureMap": "Textures/Proteus_Emissive.png",
+        "normal.textureMap": "Textures/Proteus_Normal.png",
         "opacity.factor": 1.0,
         "roughness.factor": 0.5
     }

Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Materials/Proteus_SideLights.material

@@ -0,0 +1,13 @@
+{
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+    "materialTypeVersion": 5,
+    "propertyValues": {
+        "baseColor.textureMap": "Textures/Proteus_Emissive.png",
+        "emissive.enable": true,
+        "emissive.intensity": 7.0,
+        "emissive.textureMap": "Textures/Proteus_Emissive.png",
+        "normal.textureMap": "Textures/Proteus_Normal.png",
+        "opacity.factor": 1.0,
+        "roughness.factor": 0.5
+    }
+}

Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Materials/Textures/Proteus_Roughness.png

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Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Proteus_chassis.fbx

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Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Proteus_lift.fbx

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Gems/ROS2SampleRobots/Assets/ProteusRobot/Models/Proteus_wheel.fbx

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Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/materials/body_trunk.material → Gems/ROS2SampleRobots/Assets/RosbotXL/Models/Materials/RosbotXL_Fenderl.material

@@ -8,7 +8,7 @@
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+        "baseColor.textureMap": "Textures/fender_l.png",
         "emissive.color": [
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Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/materials/body_roof.material → Gems/ROS2SampleRobots/Assets/RosbotXL/Models/Materials/RosbotXL_Roof.material

@@ -8,7 +8,7 @@
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             1.0
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-        "baseColor.textureMap": "../textures/roof.png",
+        "baseColor.textureMap": "Textures/roof.png",
         "emissive.color": [
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Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/materials/body_fender_l.material → Gems/ROS2SampleRobots/Assets/RosbotXL/Models/Materials/RosbotXL_Trunk.material

@@ -8,7 +8,7 @@
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+        "baseColor.textureMap": "Textures/trunk.png",
         "emissive.color": [
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Gems/ROS2SampleRobots/Assets/RosbotXL/Models/antenna.fbx

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Gems/ROS2SampleRobots/Assets/RosbotXL/Models/antenna_connector.fbx

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Gems/RosRobotSample/Assets/ROSBot_slamtec.prefab → Gems/ROS2SampleRobots/Assets/RosbotXL/ROSBotXL_Slamtec.prefab

@@ -66,7 +66,7 @@
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+                        "Instance_[1711844155761]/ContainerEntity"
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@@ -98,19 +98,222 @@
         }
     },
     "Instances": {
-        "Instance_[3732164110801]": {
-            "Source": "ROSbot.prefab",
+        "Instance_[1711844155761]": {
+            "Source": "RosbotXL/ROSbotXL.prefab",
             "Patches": [
+                {
+                    "op": "replace",
+                    "path": "/ContainerEntity/Components/TransformComponent/Parent Entity",
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-                                "$type": "GenericComponentWrapper",
-                                "Id": 14130657555606726475,
-                                "m_template": {
-                                    "$type": "ROS2LidarSensorComponent",
-                                    "Id": 0,
-                                    "SensorConfiguration": {
-                                        "Visualize": true,
-                                        "Publishing Enabled": true,
-                                        "Frequency (HZ)": 10.0,
-                                        "Publishers": {
-                                            "sensor_msgs::msg::PointCloud2": {
-                                                "Type": "sensor_msgs::msg::PointCloud2",
-                                                "Topic": "pc",
-                                                "QoS": {
-                                                    "Reliability": 2,
-                                                    "Durability": 2,
-                                                    "Depth": 5
-                                                }
-                                            }
-                                        }
-                                    },
-                                    "lidarCore": {
-                                        "lidarConfiguration": {
-                                            "lidarModelName": "Velodyne Puck (VLP-16)",
-                                            "lidarImplementation": "Scene Queries",
-                                            "LidarParameters": {
-                                                "Name": "Velodyne Puck (VLP-16)",
-                                                "Layers": 16,
-                                                "Points per layer": 1800,
-                                                "Min horizontal angle": -180.0,
-                                                "Max horizontal angle": 180.0,
-                                                "Min vertical angle": 15.0,
-                                                "Max vertical angle": -15.0,
-                                                "Min range": 0.0,
-                                                "Max range": 100.0,
-                                                "Enable Noise": true,
-                                                "Noise Parameters": {
-                                                    "Angular noise standard deviation": 0.0,
-                                                    "Distance noise standard deviation base": 0.029999999329447746,
-                                                    "Distance noise standard deviation slope": 0.0010000000474974513
-                                                }
-                                            },
-                                            "IgnoredLayerIndices": [
-                                                1
-                                            ],
-                                            "ExcludedEntities": [],
-                                            "IsSegmentationEnabled": false,
-                                            "PointsAtMax": false
-                                        }
-                                    }
-                                }
-                            },
                             "TransformComponent": {
                                 "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
-                                "Id": 12095662157746061718,
-                                "Parent Entity": "Entity_[4501487944153]",
+                                "Id": 18182308154738976179,
+                                "Parent Entity": "Entity_[1872743799425]",
                                 "Transform Data": {
                                     "Translate": [
                                         0.0,
                                         0.0,
-                                        0.03799999877810478
+                                        0.0
                                     ],
                                     "Rotate": [
                                         0.0,
@@ -762,11 +755,6 @@
                         },
                         "IsRuntimeActive": true
                     }
-                },
-                {
-                    "op": "replace",
-                    "path": "/ContainerEntity/Components/Component_[1258474389347419349]/Parent Entity",
-                    "value": "../Entity_[465452541274]"
                 }
             ]
         }

Gems/ProteusRobot/CMakeLists.txt → Gems/ROS2SampleRobots/CMakeLists.txt

@@ -3,7 +3,7 @@
 #
 # SPDX-License-Identifier: Apache-2.0 OR MIT
 
-o3de_gem_setup("ProteusRobot")
+o3de_gem_setup("ROS2SampleRobots")
 
 # This indicates to the Builders applications(AssetProcessor, AssetBuilder, AssetBundler)
 # that the gem should be added to the "cmake_dependencies.<project>.assetbuilder.setreg"

Gems/ROS2SampleRobots/README.md

@@ -0,0 +1,59 @@
+[![Apache License, Version 2.0][apache_shield]][apache]
+
+# Sample ROS2 Robots
+This is an Asset Gem containing sample robots for the O3DE:
+
+- Proteus Robot
+- Husarion ROSbot XL
+
+> *Note:* This Gem superseded deprecated `ProteusRobot` and `RosRobotSample` Gems; versions `2.1.0` of both Gems were used as a base.
+
+## Requirements
+- Any O3DE project with the [ROS 2 Gem](https://docs.o3de.org/docs/user-guide/interactivity/robotics/) enabled.
+
+Please refer to [O3DE documentation](https://docs.o3de.org/docs/user-guide/gems/) to learn more about Gems and about registering Gems in the system and O3DE projects.
+
+## Proteus Robot
+
+### Description
+The folder `ProteusRobot` contains a simplified model of [Proteus Robot](https://robotsguide.com/robots/proteus) - an autonomous mobile robot that can pick up, transport, and drop off containers. It is delivered as a ready-to-use O3DE prefab, `Proteus.prefab`, containing visual models, physics and the following ROS 2 components:
+- `ROS2 Frame`
+- `ROS2 Robot Control`
+- `ROS2 Skid Steering Twist Control`
+- `ROS2 Lidar Sensor`
+
+Additionally, the model is equipped with links that are suitable for adding `Camera` and `Imu` sensors.
+
+The robot publishes Lidar Sensor's output on the`/base_link/pc` ROS 2 topic and can be driven using the `/base_link/cmd_vel` ROS 2 topic. An example of its use can be found in [ROS 2 Project Template](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2FleetRobotTemplate).
+
+### Screenshots
+![](docs/images/proteus_front.png)
+![](docs/images/proteus_back.png)
+
+## Husarion ROSbotXL
+
+### Description
+The folder `RosbotXL` contains the [Husarion ROSbot XL](https://husarion.com/manuals/rosbot-xl/) robot - an autonomous mobile robot platform developed by [Husarion](https://husarion.com). The robot is delivered as a ready-to-use prefab, `ROSbotXL.prefab`, containing visual models, physics and the following ROS 2 components:
+- `ROS2 Frame`
+- `ROS2 Robot Control`
+- `ROS2 Skid Steering Twist Control`
+
+Additionally, the model is equipped with links that are suitable for adding `Camera` and `Imu` sensors. There are two extra O3DE prefabs with 2D and 3D LiDAR sensors attached: `ROSBot_slamtec.prefab` and `ROSbot_velodyne.prefab` with Slamtec RPLIDAR S1 and Velodyne Puck VLP-16 sensors respectively. The components are visualized with the corresponding meshes. 
+
+The robot publishes Lidar Sensor's output on the`/base_link/pc` ROS 2 topic and can be driven using the `/base_link/cmd_vel` ROS 2 topic. An example of its use can be found in [ROS 2 Project Template](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate).
+
+### Screenshots
+![](docs/images/rosbot_front.png) \
+From left: `ROSbotXL_Velodyne.prefab`, `ROSBotXL_Slamtec.prefab`, and `ROSbotXL.prefab`
+
+![](docs/images/rosbot_back.png) \
+From left: `ROSbotXL.prefab`, `ROSBotXL_Slamtec.prefab`, and `ROSbotXL_Velodyne.prefab`
+
+## Acknowledgments
+This work is licensed under [Apache License, Version 2.0][apache]. You may elect at your option to use the [MIT License][mit] instead. Contributions must be made under both licenses.
+
+Models of _Husarion ROSbot XL_ were created based on STL and URDF files kindly shared by [Husarion](https://husarion.com).
+
+[apache]: https://opensource.org/licenses/Apache-2.0
+[mit]: https://opensource.org/licenses/MIT
+[apache_shield]: https://img.shields.io/badge/License-Apache_2.0-blue.svg

Gems/RosRobotSample/Registry/assetprocessor_settings.setreg → Gems/ROS2SampleRobots/Registry/assetprocessor_settings.setreg

@@ -2,13 +2,13 @@
     "Amazon": {
         "AssetProcessor": {
             "Settings": {
-                "ScanFolder RosRobotSample/Assets": {
-                    "watch": "@GEMROOT:RosRobotSample@/Assets",
+                "ScanFolder ROS2SampleRobots/Assets": {
+                    "watch": "@GEMROOT:ROS2SampleRobots@/Assets",
                     "recursive": 1,
                     "order": 101
                 },
-                "ScanFolder RosRobotSample/Registry": {
-                    "watch": "@GEMROOT:RosRobotSample@/Registry",
+                "ScanFolder ROS2SampleRobots/Registry": {
+                    "watch": "@GEMROOT:ROS2SampleRobots@/Registry",
                     "recursive": 1,
                     "order": 102
                 }

Gems/ProteusRobot/gem.json → Gems/ROS2SampleRobots/gem.json

@@ -1,21 +1,21 @@
 {
-    "gem_name": "ProteusRobot",
-    "version": "2.1.0",
-    "display_name": "Proteus Robot",
+    "gem_name": "ROS2SampleRobots",
+    "version": "1.0.0",
+    "display_name": "ROS2 Sample Robots",
     "license": "Apache-2.0 or MIT",
     "license_url": "https://opensource.org/licenses/Apache-2.0",
     "origin": "RobotecAI",
     "origin_url": "https://robotec.ai",
     "type": "Asset",
-    "summary": "Proteus warehouse robot with Lidar sensor",
+    "summary": "Sample robots to be used in ROS2 projects",
     "canonical_tags": [
         "Gem"
     ],
     "user_tags": [
-        "ProteusRobot"
+        "ROS2SampleRobots"
     ],
     "platforms": [
-        "Linux"
+        ""
     ],
     "icon_path": "preview.png",
     "requirements": "Requires ROS 2 Gem",
@@ -23,12 +23,11 @@
     "dependencies": [
         "ROS2>=3.1.0"
     ],
+    "repo_uri": "",
     "compatible_engines": [
         "o3de-sdk>=2.3.0",
         "o3de>=2.3.0"
     ],
-    "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
     "engine_api_dependencies": [],
-    "restricted": "ProteusRobot",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/proteusrobot-2.1.0-gem.zip"
+    "restricted": "ROS2SampleRobots"
 }

Gems/ROS2SampleRobots/preview.png

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd1403c92a5c25e0051e22bfb7dc5706c088307dfb6b1718979ba5c7880df0a9
+size 17847

Gems/RosRobotSample/Assets/Physics/Slippery_Glass.physxmaterial

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-	</Class>
-</ObjectStream>
-

Gems/RosRobotSample/Assets/Physics/SurfaceTypeMaterialLibrary.physmaterial

@@ -1,158 +0,0 @@
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-	<Class name="Physics::MaterialLibraryAsset" version="2" type="{9E366D8C-33BB-4825-9A1F-FA3ADBE11D0F}">
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-					<Class name="float" field="Restitution" value="0,0000000" type="{EA2C3E90-AFBE-44D4-A90D-FAAF79BAF93D}"/>
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-					<Class name="float" field="Restitution" value="0,0000000" type="{EA2C3E90-AFBE-44D4-A90D-FAAF79BAF93D}"/>
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-					<Class name="float" field="Density" value="140,0000000" type="{EA2C3E90-AFBE-44D4-A90D-FAAF79BAF93D}"/>
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-				<Class name="Physics::MaterialConfiguration" field="Configuration" version="3" type="{8807CAA1-AD08-4238-8FDB-2154ADD084A1}">
-					<Class name="AZStd::string" field="SurfaceType" value="Wood" type="{03AAAB3F-5C47-5A66-9EBC-D5FA4DB353C9}"/>
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-					<Class name="float" field="StaticFriction" value="0,0000000" type="{EA2C3E90-AFBE-44D4-A90D-FAAF79BAF93D}"/>
-					<Class name="float" field="Restitution" value="0,0000000" type="{EA2C3E90-AFBE-44D4-A90D-FAAF79BAF93D}"/>
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Gems/RosRobotSample/Assets/robot/ros_components_description/meshes/slamtec_rplidar_s1_black.material

@@ -1,22 +0,0 @@
-{
-    "materialType": "@projectroot@/Cache/Intermediate Assets/materials/types/standardpbr_generated.materialtype",
-    "materialTypeVersion": 5,
-    "propertyValues": {
-        "baseColor.color": [
-            0.019999999552965164,
-            0.019999999552965164,
-            0.019999999552965164,
-            1.0
-        ],
-        "emissive.color": [
-            0.0,
-            0.0,
-            0.0,
-            1.0
-        ],
-        "metallic.factor": 0.029999999329447746,
-        "opacity.factor": 1.0,
-        "roughness.factor": 0.3700000047683716,
-        "specularF0.factor": 0.6000000238418579
-    }
-}

Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/body.fbx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:3db911fe9e3b1f50ae32d2aa6c30fbd16ecb8cacd2a34115d28901dd5dd36fa7
-size 454876

Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/components/antenna.fbx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:528f6b2d98ff73b55dd451e189dd59cf9619892f1dbcfb66aad808dfb87b62d8
-size 37228

Gems/RosRobotSample/Assets/robot/rosbot_xl_description/meshes/components/antenna_connector.fbx

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:f65e4764ecb64e904f0224f33caff003f0c39f756f26c2720883cb980d1f2e05
-size 24108

Gems/RosRobotSample/CMakeLists.txt

@@ -1,20 +0,0 @@
-# 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
-
-o3de_gem_setup("RosRobotSample")
-
-# This indicates to the Builders applications(AssetProcessor, AssetBuilder, AssetBundler)
-# that the gem should be added to the "cmake_dependencies.<project>.assetbuilder.setreg"
-# which is generated when cmake configure occurs.
-# Also tooling applications such as the Editor needs the CMake alias
-# to see the gem as active
-if(PAL_TRAIT_BUILD_HOST_TOOLS)
-    ly_create_alias(NAME ${gem_name}.Builders NAMESPACE Gem)
-    ly_create_alias(NAME ${gem_name}.Tools NAMESPACE Gem)
-
-    # Add in CMake dependencies for each gem dependency listed in this gem's gem.json file
-    # for the Tools and Builders gem variants
-    o3de_add_variant_dependencies_for_gem_dependencies(GEM_NAME ${gem_name} VARIANTS Tools Builders)
-endif()

Gems/RosRobotSample/README.md

@@ -1,34 +0,0 @@
-[![Apache License, Version 2.0][apache_shield]][apache]
-
-# Ros Robot Sample Gem for Open 3D Engine (O3DE)
-
-## Requirements
-- Any O3DE project with the [ROS 2 Gem](https://docs.o3de.org/docs/user-guide/interactivity/robotics/) enabled.
-
-Please refer to [O3DE documentation](https://docs.o3de.org/docs/user-guide/gems/) to learn more about Gems and about registering Gems in the system and O3DE projects.
-
-## Description
-This is an Asset Gem. It contains the [Husarion ROSbot XL](https://husarion.com/manuals/rosbot-xl/) robot - an autonomous mobile robot platform developed by [Husarion](https://husarion.com). The robot is delivered as a ready-to-use prefab, `ROSbot.prefab`, containing visual models, physics and the following ROS 2 components:
-- `ROS2 Frame`
-- `ROS2 Robot Control`
-- `ROS2 Skid Steering Twist Control`
-
-Additionally, the model is equipped with links that are suitable for adding `Camera` and `Imu` sensors. There are two extra O3DE prefabs with 2D and 3D LiDAR sensors attached: `ROSBot_slamtec.prefab` and `ROSbot_velodyne.prefab` with Slamtec RPLIDAR S1 and Velodyne Puck VLP-16 sensors respectively. The components are visualized with the corresponding meshes. 
-
-The robot publishes Lidar Sensor's output on the`/base_link/pc` ROS 2 topic and can be driven using the `/base_link/cmd_vel` ROS 2 topic. An example of its use can be found in [ROS 2 Project Template](https://github.com/o3de/o3de-extras/tree/development/Templates/Ros2ProjectTemplate).
-
-## Screenshots
-![](docs/images/front.png)
-From left: `ROSbot_velodyne.prefab`, `ROSBot_slamtec.prefab`, and `ROSbot.prefab`
-
-![](docs/images/back.png)
-From left: `ROSbot.prefab`, `ROSBot_slamtec.prefab`, and `ROSbot_velodyne.prefab`
-
-## Acknowledgments
-This work is licensed under [Apache License, Version 2.0][apache]. You may elect at your option to use the [MIT License][mit] instead. Contributions must be made under both licenses.
-
-Models were created based on STL and URDF files kindly shared by Husarion.
-
-[apache]: https://opensource.org/licenses/Apache-2.0
-[mit]: https://opensource.org/licenses/MIT
-[apache_shield]: https://img.shields.io/badge/License-Apache_2.0-blue.svg

Gems/RosRobotSample/gem.json

@@ -1,33 +0,0 @@
-{
-    "gem_name": "RosRobotSample",
-    "version": "2.1.0",
-    "display_name": "ROS Robot Sample",
-    "license": "Apache-2.0 or MIT",
-    "license_url": "https://opensource.org/licenses/Apache-2.0",
-    "origin": "RobotecAI",
-    "origin_url": "https://robotec.ai",
-    "type": "Asset",
-    "summary": "Husarion ROSbot XL robot assets.",
-    "canonical_tags": [
-        "Gem"
-    ],
-    "user_tags": [
-        "RosRobotSample"
-    ],
-    "platforms": [
-        "Linux"
-    ],
-    "icon_path": "preview.png",
-    "requirements": "Requires ROS 2 Gem",
-    "documentation_url": "",
-    "dependencies": [
-        "ROS2>=3.1.0"
-    ],
-    "compatible_engines": [
-        "o3de-sdk>=2.3.0",
-        "o3de>=2.3.0"
-    ],
-    "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "restricted": "",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/rosrobotsample-2.1.0-gem.zip"
-}

Gems/RosRobotSample/preview.png

@@ -1,3 +0,0 @@
-version https://git-lfs.github.com/spec/v1
-oid sha256:ff10b9d34958cde140d752df5b577c27e31d1e33edde58c54dc829bacaaf1cbc
-size 21649

Templates/Ros2FleetRobotTemplate/Template/Levels/playground/playground.prefab

@@ -20,7 +20,8 @@
                 "Id": 14126657869720434043,
                 "Child Entity Order": [
                     "Entity_[1176639161715]",
-                    "Instance_[814543674064679]/ContainerEntity"
+                    "Instance_[814543674064679]/ContainerEntity",
+                    "Instance_[432421211856]/ContainerEntity"
                 ]
             },
             "Component_[15230859088967841193]": {
@@ -232,8 +233,7 @@
                     "Id": 16880285896855930892,
                     "Controller": {
                         "Configuration": {
-                            "Field of View": 55.0,
-                            "EditorEntityId": 8929576024571800510
+                            "Field of View": 55.0
                         }
                     }
                 },
@@ -557,60 +557,20 @@
         }
     },
     "Instances": {
-        "Instance_[814543674064679]": {
-            "Source": "Proteus.prefab",
+        "Instance_[432421211856]": {
+            "Source": "ProteusRobot/Proteus.prefab",
             "Patches": [
                 {
                     "op": "replace",
-                    "path": "/Entities/Entity_[15629654211104]/Components/Component_[17075084475750345983]/Configuration/Centre of mass offset/0",
-                    "value": -1.6654873036259232e-9
-                },
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-                    "path": "/Entities/Entity_[15629654211104]/Components/Component_[17075084475750345983]/Configuration/Centre of mass offset/1",
-                    "value": -2.462736958808165e-10
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-                    "op": "replace",
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-                    "value": 0.0028837586287409067
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-                    "value": -1.6654873036259232e-9
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-                    "value": 0.0028837586287409067
-                },
-                {
-                    "op": "replace",
-                    "path": "/ContainerEntity/Components/Component_[15237572906287023176]/Parent Entity",
+                    "path": "/ContainerEntity/Components/TransformComponent/Parent Entity",
                     "value": "../Entity_[1146574390643]"
                 },
                 {
                     "op": "replace",
-                    "path": "/ContainerEntity/Components/Component_[15237572906287023176]/Transform Data/Translate/0",
+                    "path": "/ContainerEntity/Components/TransformComponent/Transform Data/Translate/0",
                     "value": -2.053994655609131
                 }
             ]
         }
     }
-}
+}

Templates/Ros2FleetRobotTemplate/Template/project.json

@@ -32,8 +32,8 @@
         "PhysX5",
         "PrimitiveAssets",
         "PrefabBuilder",
-        "ProteusRobot>=2.0.0",
         "ROS2>=3.1.0",
+        "ROS2SampleRobots",
         "ScriptCanvasPhysics",
         "ScriptEvents",
         "StartingPointInput",

Templates/Ros2ProjectTemplate/Template/Levels/DemoLevel/DemoLevel.prefab

@@ -607,14 +607,9 @@
         }
     },
     "Instances": {
-        "Instance_[594075265400]": {
-            "Source": "ROSBot_slamtec.prefab",
+        "Instance_[475051143394]": {
+            "Source": "RosbotXL/ROSBotXL_Slamtec.prefab",
             "Patches": [
-                {
-                    "op": "replace",
-                    "path": "/ContainerEntity/Components/Component_[615377764463113571]/Child Entity Order/0",
-                    "value": "Instance_[3732164110801]/ContainerEntity"
-                },
                 {
                     "op": "replace",
                     "path": "/ContainerEntity/Components/Component_[959982562508610]/Parent Entity",

Templates/Ros2ProjectTemplate/Template/project.json

@@ -35,7 +35,7 @@
         "PrimitiveAssets",
         "PrefabBuilder",
         "ROS2>=3.1.0",
-        "RosRobotSample>=2.0.0",
+        "ROS2SampleRobots",
         "SaveData",
         "ScriptCanvasPhysics",
         "ScriptEvents",