Merge pull request #311 from aws-lumberyard-dev/gadams3/gitflow_230427_o3de-extras

Gadams3/gitflow 230427 o3de extras

Gems/ROS2/Assets/Models/Sensors/IMU/AO.png

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Gems/ROS2/Assets/Models/Sensors/IMU/Diffuse.png

@@ -1,3 +0,0 @@
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Gems/ROS2/Assets/Models/Sensors/IMU/IMU_MTi10.fbx

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-size 91260

Gems/ROS2/Assets/Models/Sensors/IMU/IMU_MTi10.fbx.assetinfo

@@ -1,47 +0,0 @@
-{
-    "values": [
-        {
-            "$type": "{5B03C8E6-8CEE-4DA0-A7FA-CD88689DD45B} MeshGroup",
-            "id": "{F1C07FE3-CCB1-5FEB-8CDD-8101E20A52D1}",
-            "name": "IMU_MTi10",
-            "NodeSelectionList": {
-                "selectedNodes": [
-                    "RootNode.Collider"
-                ],
-                "unselectedNodes": [
-                    {},
-                    "RootNode",
-                    "RootNode.MTi"
-                ]
-            },
-            "MaterialSlots": [
-                "DefaultMaterial"
-            ],
-            "PhysicsMaterials": [
-                "<Default Physics Material>"
-            ]
-        },
-        {
-            "$type": "{07B356B7-3635-40B5-878A-FAC4EFD5AD86} MeshGroup",
-            "name": "IMU_MTi10",
-            "nodeSelectionList": {
-                "selectedNodes": [
-                    {},
-                    "RootNode",
-                    "RootNode.MTi"
-                ],
-                "unselectedNodes": [
-                    "RootNode.Collider"
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-            },
-            "id": "{8347CDE5-E6B6-50DC-B7FC-21B26C248E51}"
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-}

Gems/ROS2/Assets/Models/Sensors/IMU/Normal.png

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Gems/ROS2/Assets/Prefabs/Sensors/Imu.prefab

@@ -1,243 +0,0 @@
-{
-    "ContainerEntity": {
-        "Id": "ContainerEntity",
-        "Name": "Imu",
-        "Components": {
-            "Component_[10933327020638125059]": {
-                "$type": "EditorLockComponent",
-                "Id": 10933327020638125059
-            },
-            "Component_[15418568890677341368]": {
-                "$type": "EditorOnlyEntityComponent",
-                "Id": 15418568890677341368
-            },
-            "Component_[1567675407994048561]": {
-                "$type": "EditorEntityIconComponent",
-                "Id": 1567675407994048561
-            },
-            "Component_[2143987639398891621]": {
-                "$type": "EditorDisabledCompositionComponent",
-                "Id": 2143987639398891621
-            },
-            "Component_[4252676114928404176]": {
-                "$type": "EditorPrefabComponent",
-                "Id": 4252676114928404176
-            },
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-                "Id": 6700600896017100313,
-                "Parent Entity": ""
-            },
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-                "$type": "EditorVisibilityComponent",
-                "Id": 8103406177016615226
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-                "Id": 8182586409240141630
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-                "Child Entity Order": [
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-                ]
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-            "Component_[9830322531478794982]": {
-                "$type": "EditorInspectorComponent",
-                "Id": 9830322531478794982
-            }
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-    "Entities": {
-        "Entity_[690707340010]": {
-            "Id": "Entity_[690707340010]",
-            "Name": "Imu",
-            "Components": {
-                "Component_[10340392978555572105]": {
-                    "$type": "EditorVisibilityComponent",
-                    "Id": 10340392978555572105
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-                    "$type": "EditorOnlyEntityComponent",
-                    "Id": 11958193181460909696
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-                "Component_[12053638524449760314]": {
-                    "$type": "EditorMeshColliderComponent",
-                    "Id": 12053638524449760314,
-                    "ColliderConfiguration": {
-                        "MaterialSlots": {
-                            "Slots": [
-                                {
-                                    "Name": "Entire object"
-                                }
-                            ]
-                        }
-                    },
-                    "ShapeConfiguration": {
-                        "PhysicsAsset": {
-                            "Asset": {
-                                "assetId": {
-                                    "guid": "{50286487-658B-5B99-99D6-3AB4002EFF73}",
-                                    "subId": 3726733934
-                                },
-                                "assetHint": "models/sensors/imu/imu_mti10.pxmesh"
-                            },
-                            "Configuration": {
-                                "PhysicsAsset": {
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-                                        "guid": "{50286487-658B-5B99-99D6-3AB4002EFF73}",
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-                                    "loadBehavior": "QueueLoad",
-                                    "assetHint": "models/sensors/imu/imu_mti10.pxmesh"
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-                "Component_[12417918822595867875]": {
-                    "$type": "EditorEntitySortComponent",
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-                "Component_[13004836012029176840]": {
-                    "$type": "EditorInspectorComponent",
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-                    "ComponentOrderEntryArray": [
-                        {
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-                        {
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-                "Component_[13855119924746268003]": {
-                    "$type": "AZ::Render::EditorMeshComponent",
-                    "Id": 13855119924746268003,
-                    "Controller": {
-                        "Configuration": {
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-                                "assetHint": "models/sensors/imu/imu_mti10.azmodel"
-                            }
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-        "Entity_[799444499120]": {
-            "Id": "Entity_[799444499120]",
-            "Name": "sensor",
-            "Components": {
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-                    "$type": "EditorEntityIconComponent",
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-                    "Id": 12018107220451562856
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-                    "$type": "EditorDisabledCompositionComponent",
-                    "Id": 14513347572674200286
-                },
-                "Component_[15502515964653740915]": {
-                    "$type": "GenericComponentWrapper",
-                    "Id": 15502515964653740915,
-                    "m_template": {
-                        "$type": "ROS2ImuSensorComponent",
-                        "SensorConfiguration": {
-                            "Publishers": {
-                                "sensor_msgs::msg::Imu": {
-                                    "Type": "sensor_msgs::msg::Imu",
-                                    "Topic": "imu"
-                                }
-                            }
-                        }
-                    }
-                },
-                "Component_[16218438073533307497]": {
-                    "$type": "EditorPendingCompositionComponent",
-                    "Id": 16218438073533307497
-                },
-                "Component_[16632774364418825439]": {
-                    "$type": "EditorOnlyEntityComponent",
-                    "Id": 16632774364418825439
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-                "Component_[8034005069780921515]": {
-                    "$type": "GenericComponentWrapper",
-                    "Id": 8034005069780921515,
-                    "m_template": {
-                        "$type": "ROS2FrameComponent",
-                        "Namespace Configuration": {
-                            "Namespace Strategy": 1
-                        },
-                        "Frame Name": "imu"
-                    }
-                },
-                "Component_[993718121342624828]": {
-                    "$type": "EditorVisibilityComponent",
-                    "Id": 993718121342624828
-                }
-            }
-        }
-    }
-}

Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.cpp

@@ -9,6 +9,7 @@
 #include <AzCore/Serialization/EditContext.h>
 #include <AzCore/Serialization/SerializeContext.h>
 #include <Lidar/LidarRegistrarSystemComponent.h>
+#include <Lidar/LidarTemplate.h>
 
 namespace ROS2
 {
@@ -110,4 +111,16 @@ namespace ROS2
 
         return nullptr;
     }
+
+    AZStd::string Details::GetDefaultLidarSystem()
+        {
+            const auto& lidarSystemList = LidarRegistrarInterface::Get()->GetRegisteredLidarSystems();
+            if (lidarSystemList.empty())
+            {
+                AZ_Warning("ROS2LidarSensorComponent", false, "No LIDAR system for the sensor to use.");
+                return {};
+            }
+            return lidarSystemList.front();
+        }
+
 } // namespace ROS2

Gems/ROS2/Code/Source/Lidar/LidarRegistrarSystemComponent.h

@@ -45,4 +45,10 @@ namespace ROS2
         LidarSystem m_physxLidarSystem;
         AZStd::unordered_map<AZ::Crc32, LidarSystemMetaData> m_registeredLidarSystems;
     };
+
+    namespace Details
+    {
+        AZStd::string GetDefaultLidarSystem();
+    } // namespace Details
+
 } // namespace ROS2

Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.cpp

@@ -13,6 +13,7 @@
 #include <ROS2/Frame/ROS2FrameComponent.h>
 #include <ROS2/ROS2Bus.h>
 #include <ROS2/Utilities/ROS2Names.h>
+#include <Lidar/LidarRegistrarSystemComponent.h>
 
 namespace ROS2
 {
@@ -87,22 +88,12 @@ namespace ROS2
             }
         }
     }
-    static AZStd::string GetDefaultLidarSystem()
-    {
-        const auto& lidarSystemList = LidarRegistrarInterface::Get()->GetRegisteredLidarSystems();
-        if (lidarSystemList.empty())
-        {
-            AZ_Warning("ROS2LidarSensorComponent", false, "No LIDAR system for the sensor to use.");
-            return {};
-        }
-        return lidarSystemList.front();
-    }
 
     void ROS2Lidar2DSensorComponent::FetchLidarImplementationFeatures()
     {
         if (m_lidarSystem.empty())
         {
-            m_lidarSystem = GetDefaultLidarSystem();
+            m_lidarSystem = Details::GetDefaultLidarSystem();
         }
         const auto* lidarMetaData = LidarRegistrarInterface::Get()->GetLidarSystemMetaData(m_lidarSystem);
         AZ_Warning("ROS2Lidar2DSensorComponent", lidarMetaData, "No metadata for \"%s\"", m_lidarSystem.c_str());

Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp

@@ -13,6 +13,7 @@
 #include <ROS2/Frame/ROS2FrameComponent.h>
 #include <ROS2/ROS2Bus.h>
 #include <ROS2/Utilities/ROS2Names.h>
+#include <Lidar/LidarRegistrarSystemComponent.h>
 
 namespace ROS2
 {
@@ -96,7 +97,7 @@ namespace ROS2
     {
         if (m_lidarSystem.empty())
         {
-            m_lidarSystem = GetDefaultLidarSystem();
+            m_lidarSystem = Details::GetDefaultLidarSystem();
         }
         const auto* lidarMetaData = LidarRegistrarInterface::Get()->GetLidarSystemMetaData(m_lidarSystem);
         AZ_Warning("ROS2LidarSensorComponent", lidarMetaData, "No metadata for \"%s\"", m_lidarSystem.c_str());

Gems/ROS2/Code/Source/Odometry/ROS2WheelOdometry.h

@@ -15,6 +15,7 @@
 #include <ROS2/Sensor/ROS2SensorComponent.h>
 #include <nav_msgs/msg/odometry.hpp>
 #include <rclcpp/publisher.hpp>
+#include <Utilities/PhysicsCallbackHandler.h>
 
 namespace ROS2
 {

Gems/ROS2/Code/Source/RobotImporter/Pages/CheckAssetPage.cpp

@@ -129,12 +129,10 @@ namespace ROS2
         else
         {
             m_table->item(i, Columns::ResolvedMeshPath)->setIcon(m_failureIcon);
+            m_table->setItem(i, Columns::ProductAsset, createCell(false, QString()));
         }
-        if (!assetSourcePath.empty())
-        {
-            m_assetsPaths.push_back(assetSourcePath);
-            m_assetsUuids.push_back(assetUuid);
-        }
+        m_assetsPaths.push_back(assetSourcePath);
+        m_assetsUuids.push_back(assetUuid);
     }
 
     void CheckAssetPage::StartWatchAsset()

Gems/ROS2/Code/Source/RobotImporter/Utils/SourceAssetsStorage.cpp

@@ -11,6 +11,8 @@
 #include <AzCore/IO/FileIO.h>
 #include <AzCore/Serialization/Json/JsonUtils.h>
 #include <AzCore/Utils/Utils.h>
+#include <AzCore/std/smart_ptr/shared_ptr.h>
+#include <AzCore/std/smart_ptr/make_shared.h>
 #include <AzToolsFramework/Asset/AssetUtils.h>
 #include <SceneAPI/SceneCore/Containers/Scene.h>
 #include <SceneAPI/SceneCore/Containers/Utilities/Filters.h>

Templates/Ros2FleetRobotTemplate/Template/autoexec.cfg

@@ -0,0 +1 @@
+LoadLevel levels/warehousescene/warehouse.spawnable

Templates/Ros2ProjectTemplate/Template/Registry/editorpreferences.setreg

@@ -0,0 +1,24 @@
+{
+    "Amazon": {
+        "Preferences": {
+            "Editor": {
+                "IconsVisible": false,
+                "HelpersVisible": false,
+                "Camera": {
+                    "DefaultStartingPosition": {
+                        "x": 0.055202629417181015,
+                        "y": -12.046481132507324,
+                        "z": 1.7089390754699707
+                    },
+                    "DefaultOrbitDistance": 20.0,
+                    "DefaultStartingPitch": -48.0,
+                    "DefaultStartingYaw": -149.0,
+                    "GoToPositionInstantly": false,
+                    "GoToPositionDuration": 1.0,
+                    "FovDegrees": 60.0,
+                    "SpeedScale": 1.0
+                },
+            }
+        }
+    }
+}

Templates/Ros2ProjectTemplate/Template/Registry/physxsystemconfiguration.setreg

@@ -3,6 +3,7 @@
         "Gems": {
             "PhysX": {
                 "PhysXSystemConfiguration": {
+                    "FixedTimeStep": 0.004999999888241291,
                     "CollisionConfig": {
                         "Layers": {
                             "LayerNames": [
@@ -95,4 +96,4 @@
             }
         }
     }
-}
+}

Templates/Ros2ProjectTemplate/Template/autoexec.cfg

@@ -0,0 +1 @@
+LoadLevel levels/demolevel/demolevel.spawnable

Templates/Ros2ProjectTemplate/Template/preview.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:13e825d395c997ca41a7db98191b14d7d4b900329bf15a6ba91579abac4df61f
-size 6058
+oid sha256:8948ae2bb976561a416a096ce93652029e65f803ffc2d0cb19ad1908fc42cb29
+size 120386

Templates/Ros2ProjectTemplate/preview.png

@@ -1,3 +1,3 @@
 version https://git-lfs.github.com/spec/v1
-oid sha256:248e3ffe1fc9ffc02afb2ba8914e222a5a5d13ac45a48b98c95ee062e959a94c
-size 4475
+oid sha256:8948ae2bb976561a416a096ce93652029e65f803ffc2d0cb19ad1908fc42cb29
+size 120386

Templates/Ros2ProjectTemplate/template.json

@@ -190,6 +190,10 @@
             "file": "Registry/awscoreconfiguration.setreg",
             "isTemplated": false
         },
+        {
+            "file": "Registry/editorpreferences.setreg",
+            "isTemplated": false
+        },
         {
             "file": "Registry/physxsystemconfiguration.setreg",
             "isTemplated": false