Addressed code review comments

Co-authored-by: Steve Pham <[email protected]>
Signed-off-by: Michał Pełka <[email protected]>

Gems/ROS2/Code/Source/Manipulator/MotorizedJointComponent.cpp

@@ -202,7 +202,7 @@ namespace ROS2
             m_lastMeasurementTime = time.GetSeconds();
             return m_currentPosition;
         }
-        AZ_Assert(false, "it is not implemented");
+        AZ_Assert(false, "Measurement computation for rotation is not implemented");
         return 0;
     }
 
@@ -214,7 +214,7 @@ namespace ROS2
         }
         else
         {
-            deltaTime = AZStd::min(deltaTime, 0.1f); // limit max force for small FPS
+            deltaTime = AZStd::min(deltaTime, 0.1f); // this affects applied force. Need to prevent value that is too large.
             if (m_linear)
             {
                 ApplyLinVelRigidBodyImpulse(velocity, deltaTime);

Gems/ROS2/Code/Source/RobotControl/ControlConfiguration.cpp

@@ -24,7 +24,7 @@ namespace ROS2
                         AZ::Edit::UIHandlers::ComboBox,
                         &ControlConfiguration::m_steering,
                         "Steering",
-                        "Determines how robot is controlled.")
+                        "Determines how the robot is controlled.")
                     ->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree)
                     ->EnumAttribute(ControlConfiguration::Steering::Twist, "Twist")
                     ->EnumAttribute(ControlConfiguration::Steering::Ackermann, "Ackermann");

Gems/ROS2/Code/Source/RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.cpp

@@ -49,7 +49,6 @@ namespace ROS2
     void RigidBodyTwistControlComponent::TwistReceived(const AZ::Vector3& linear, const AZ::Vector3& angular)
     {
         auto thisEntityId = GetEntityId();
-        // Get current linear velocity
         AZ::Vector3 currentLinearVelocity;
         Physics::RigidBodyRequestBus::EventResult(currentLinearVelocity, thisEntityId, &Physics::RigidBodyRequests::GetLinearVelocity);
 

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

@@ -16,13 +16,13 @@ namespace ROS2
     {
         setTitle(QObject::tr("Introduction"));
 
-        m_label = new QLabel(QObject::tr("This wizard allows you to build robot prefab out of URDF description file."
+        m_label = new QLabel(QObject::tr("This wizard allows you to build a robot prefab out of URDF description file."
                                          " Before processing, please, make sure that all necessary assets that are"
                                          " used by URDF file are processed by Asset Processor."
                                          " Open 3D Engine can only use files in its internal"
                                          " <a href=\"https://www.o3de.org/docs/user-guide/assets/asset-types/\">format</a>."
-                                         " The tool, called Asset Processor allows processing source assets (e.g, meshes, textures)"
-                                         " to supported internal format. To learn more about asset processors click"
+                                         " The tool (Asset Processor) allows processing source assets (e.g, meshes, textures)"
+                                         " to its supported internal format. To learn more about asset processors click"
                                          " <a href=\"https://www.o3de.org/docs/user-guide/assets/asset-processor/\">here</a>."
                                          " URDF Importer will find correct meshes in product assets during import."));
         m_label->setTextFormat(Qt::RichText);

Gems/ROS2/Code/Source/RobotImporter/RobotImporterWidget.cpp

@@ -88,9 +88,8 @@ namespace ROS2
             if (m_parsedUrdf)
             {
                 report += "# " + tr("The URDF was parsed and opened successfully") + "\n";
-                // get rid of old prefab maker
                 m_prefabMaker.reset();
-                // let us skip this page
+                // Report the status of skipping this page
                 AZ_Printf("Wizard", "Wizard skips m_checkUrdfPage since there is no errors in URDF");
                 m_meshNames = Utils::GetMeshesFilenames(m_parsedUrdf->getRoot(), true, true);
             }

Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.cpp

@@ -312,14 +312,14 @@ namespace ROS2
             isWheelEntity ? m_wheelMaterial : AZ::Data::Asset<Physics::MaterialAsset>();
         size_t nameSuffixIndex = 0; // For disambiguation when multiple unnamed colliders are present. The order does not matter here
         for (auto collider : link->collision_array)
-        { // one or more colliders - the array is used
+        { // Add colliders (if any) from the collision array
             AddCollider(
                 collider, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString, nameSuffixIndex), materialAsset);
             nameSuffixIndex++;
         }
 
         if (nameSuffixIndex == 0)
-        { // no colliders in the array - zero or one in total, the element member is used instead
+        { // If there are no colliders in the array, the element member is used instead
             AddCollider(link->collision, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString), materialAsset);
         }
     }

Gems/ROS2/Code/Source/RobotImporter/URDF/CollidersMaker.h

@@ -34,7 +34,7 @@ namespace ROS2
         //! @param urdfAssetsMapping a prepared mapping of Assets used by the source URDF.
         CollidersMaker(const AZStd::shared_ptr<Utils::UrdfAssetMap>& urdfAssetsMapping);
 
-        //! Deleted copy constructor.
+        //! Prevent copying of existing CollidersMaker
         CollidersMaker(const CollidersMaker& other) = delete;
 
         ~CollidersMaker();

Gems/ROS2/Code/Source/RobotImporter/URDF/PrefabMakerUtils.cpp

@@ -59,9 +59,6 @@ namespace ROS2::PrefabMakerUtils
             AZ_Error("SetEntityTransform", false, "Missing Transform component!");
             return;
         }
-        // Alternative - but requires an active component. We would activate/deactivate a lot. Or - do it in a second pass.
-        // AZ::TransformBus::Event(entityId, &AZ::TransformBus::Events::SetLocalTM, transformForChild);
-
         transformInterface->SetLocalTM(tf);
     }
 
@@ -74,9 +71,11 @@ namespace ROS2::PrefabMakerUtils
             return createEntityResult;
         }
 
+
+        // Verify that a valid entity is created.
         AZ::EntityId entityId = createEntityResult.GetValue();
         if (!entityId.IsValid())
-        { // Verify that a valid entity is created.
+        {
             return AZ::Failure(AZStd::string("Invalid id for created entity"));
         }
 

Gems/ROS2/Code/Source/RobotImporter/URDF/URDFPrefabMaker.cpp

@@ -46,7 +46,7 @@ namespace ROS2
         // Request the build of collider meshes by constructing .assetinfo files.
         BuildAssetsForLink(m_model->root_link_);
 
-        // Wait for all collider meshes to be ready
+        // Spins thread that waits for all collider meshes to be ready. 
         m_collidersMaker.ProcessMeshes(buildReadyCb);
     }
 
@@ -76,7 +76,6 @@ namespace ROS2
 
         auto links = Utils::GetAllLinks(m_model->root_link_->child_links);
 
-        // create links
         for (const auto& [name, linkPtr] : links)
         {
             createdLinks[name] = AddEntitiesForLink(linkPtr, createEntityRoot.GetValue());
@@ -100,7 +99,7 @@ namespace ROS2
             }
         }
 
-        // set transforms of links
+        // Set the transforms of links
         for (const auto& [name, linkPtr] : links)
         {
             const auto this_entry = createdLinks.at(name);
@@ -136,7 +135,7 @@ namespace ROS2
             }
         }
 
-        // set hierarchy
+        // Set the hierarchy
         for (const auto& [name, linkPtr] : links)
         {
             const auto thisEntry = createdLinks.at(name);
@@ -176,7 +175,7 @@ namespace ROS2
             entity->Deactivate();
         }
 
-        // create joint
+        // Create the joints
         auto joints = Utils::GetAllJoints(m_model->root_link_->child_links);
         for (const auto& [name, jointPtr] : joints)
         {
@@ -210,7 +209,6 @@ namespace ROS2
             }
         }
 
-        // move to spawn point
         MoveEntityToDefaultSpawnPoint(createEntityRoot.GetValue());
 
         auto contentEntityId = createEntityRoot.GetValue();

Gems/ROS2/Code/Source/RobotImporter/URDF/UrdfParser.cpp

@@ -45,7 +45,7 @@ namespace ROS2
             //! Clears accumulated log
             void Clear();
 
-            //! Read accumulated log to file
+            //! Read accumulated log to a string 
             AZStd::string GetLog();
         };
 

Gems/ROS2/Code/Source/RobotImporter/URDF/VisualsMaker.cpp

@@ -41,14 +41,14 @@ namespace ROS2
     {
         const AZStd::string typeString = "visual";
         if (link->visual_array.size() < 1)
-        { // one or zero visuals - element is used
+        { // For zero visuals, element is used
             AddVisual(link->visual, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString));
             return;
         }
         size_t nameSuffixIndex = 0; // For disambiguation when multiple unnamed visuals are present. The order does not matter here
 
         for (auto visual : link->visual_array)
-        { // one or more visuals - array is used
+        { // For one or more visuals, an array is used
             AddVisual(visual, entityId, PrefabMakerUtils::MakeEntityName(link->name.c_str(), typeString, nameSuffixIndex));
             nameSuffixIndex++;
         }
@@ -57,12 +57,12 @@ namespace ROS2
     void VisualsMaker::AddVisual(urdf::VisualSharedPtr visual, AZ::EntityId entityId, const AZStd::string& generatedName) const
     {
         if (!visual)
-        { // it is ok not to have a visual in a link
+        { // It is ok not to have a visual in a link
             return;
         }
 
         if (!visual->geometry)
-        { // non-empty visual should have a geometry
+        { // Non-empty visual should have a geometry. Warn if no geometry present
             AZ_Warning("AddVisual", false, "No Geometry for a visual");
             return;
         }

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

@@ -23,22 +23,22 @@ namespace ROS2
         const AZStd::regex joint_regex("(?i)joint");
         const AZStd::string link_name(link->name.c_str(), link->name.size());
         AZStd::smatch match;
-        // check is name is catchy for wheel
+        // Check if name is catchy for wheel
         if (!AZStd::regex_search(link_name, match, wheel_regex))
         {
             return false;
         }
-        // but it should cointain joint word
+        // The name should contain a joint word
         if (AZStd::regex_search(link_name, match, joint_regex))
         {
             return false;
         }
-        // wheel need to have collision and visuals
+        // Wheels need to have collision and visuals
         if (!(link->collision && link->visual))
         {
             return false;
         }
-        // and finally parent joint needs to be CONTINOUS
+        // Parent joint needs to be CONTINOUS
         if (link->parent_joint && link->parent_joint->type == urdf::Joint::CONTINUOUS)
         {
             return true;
@@ -165,12 +165,12 @@ namespace ROS2
                     return (packagePath / unresolvedPath).String();
                 }
             }
-            // we have nothing
+            // No path available
             return "";
         }
         if (unresolvedPath.starts_with("file:///"))
         {
-            // seems to be global path
+            // Paths that start with 'file:///' are absolute paths
             AZ::StringFunc::Replace(unresolvedPath, "file://", "", true, true);
             return unresolvedPath;
         }

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

@@ -98,10 +98,9 @@ namespace ROS2::Utils
             urdfToAsset.emplace(t, AZStd::move(asset));
         }
 
-        // scans all available o3de assets by calling
         const AZStd::unordered_map<AZ::Crc32, AvailableAsset> availableAssets = Utils::GetInterestingSourceAssetsCRC();
 
-        // search for suitable mappings  by comparing checksum
+        // Search for suitable mappings by comparing checksum
         for (auto it = urdfToAsset.begin(); it != urdfToAsset.end(); it++)
         {
             Utils::UrdfAsset& asset = it->second;

Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp

@@ -19,12 +19,10 @@ namespace ROS2
 {
     ROS2SpawnerComponent::ROS2SpawnerComponent()
     {
-        // SpawnerInterface::Register(this);
     }
 
     ROS2SpawnerComponent::~ROS2SpawnerComponent()
     {
-        // SpawnerInterface::Unregister(this);
     }
 
     void ROS2SpawnerComponent::Activate()

Gems/ROS2/Code/Source/Utilities/ROS2Names.cpp

@@ -104,7 +104,7 @@ namespace ROS2
     AZ::Outcome<void, AZStd::string> ROS2Names::ValidateTopic(const AZStd::string& topic)
     {
         int validationResult = 0;
-        size_t invalidIndex; // Unused. We could choose to display it in information, but it is not necessary.
+        [[maybe_unused]] size_t invalidIndex;
         if (rcl_validate_topic_name(topic.c_str(), &validationResult, &invalidIndex) != RCL_RET_OK)
         {
             AZ_Error("ValidateTopic", false, "Call to rcl validation for topic failed");

Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.cpp

@@ -78,7 +78,7 @@ namespace ROS2::VehicleDynamics
     }
 
     void VehicleModelComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible)
-    { // Only one per entity
+    {
         incompatible.push_back(AZ_CRC_CE("VehicleModelService"));
     }
 

Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelComponent.h

@@ -43,7 +43,7 @@ namespace ROS2::VehicleDynamics
         void OnTick(float deltaTime, AZ::ScriptTimePoint time) override;
 
         //////////////////////////////////////////////////////////////////////////
-        //! VehicleInputControlRequestBus::Handler overrides
+        // VehicleInputControlRequestBus::Handler overrides
         void SetTargetLinearSpeed(float speedMps) override;
         void SetTargetSteering(float steering) override;
         void SetTargetAccelerationFraction(float accelerationFraction) override;

Gems/ROS2/Code/Source/VehicleDynamics/VehicleModelLimits.cpp

@@ -40,7 +40,7 @@ namespace ROS2::VehicleDynamics
 
     float VehicleModelLimits::LimitValue(float value, float absoluteLimit)
     {
-        absoluteLimit = AZStd::abs(absoluteLimit);
-        return AZStd::clamp(value, -absoluteLimit, absoluteLimit);
+        float absoluteLimitAbs = AZStd::abs(absoluteLimit);
+        return AZStd::clamp(value, -absoluteLimitAbs, absoluteLimitAbs);
     }
 } // namespace ROS2::VehicleDynamics

Gems/ROS2/LICENSE

@@ -1,201 +0,0 @@
-                                 Apache License
-                           Version 2.0, January 2004
-                        http://www.apache.org/licenses/
-
-   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
-
-   1. Definitions.
-
-      "License" shall mean the terms and conditions for use, reproduction,
-      and distribution as defined by Sections 1 through 9 of this document.
-
-      "Licensor" shall mean the copyright owner or entity authorized by
-      the copyright owner that is granting the License.
-
-      "Legal Entity" shall mean the union of the acting entity and all
-      other entities that control, are controlled by, or are under common
-      control with that entity. For the purposes of this definition,
-      "control" means (i) the power, direct or indirect, to cause the
-      direction or management of such entity, whether by contract or
-      otherwise, or (ii) ownership of fifty percent (50%) or more of the
-      outstanding shares, or (iii) beneficial ownership of such entity.
-
-      "You" (or "Your") shall mean an individual or Legal Entity
-      exercising permissions granted by this License.
-
-      "Source" form shall mean the preferred form for making modifications,
-      including but not limited to software source code, documentation
-      source, and configuration files.
-
-      "Object" form shall mean any form resulting from mechanical
-      transformation or translation of a Source form, including but
-      not limited to compiled object code, generated documentation,
-      and conversions to other media types.
-
-      "Work" shall mean the work of authorship, whether in Source or
-      Object form, made available under the License, as indicated by a
-      copyright notice that is included in or attached to the work
-      (an example is provided in the Appendix below).
-
-      "Derivative Works" shall mean any work, whether in Source or Object
-      form, that is based on (or derived from) the Work and for which the
-      editorial revisions, annotations, elaborations, or other modifications
-      represent, as a whole, an original work of authorship. For the purposes
-      of this License, Derivative Works shall not include works that remain
-      separable from, or merely link (or bind by name) to the interfaces of,
-      the Work and Derivative Works thereof.
-
-      "Contribution" shall mean any work of authorship, including
-      the original version of the Work and any modifications or additions
-      to that Work or Derivative Works thereof, that is intentionally
-      submitted to Licensor for inclusion in the Work by the copyright owner
-      or by an individual or Legal Entity authorized to submit on behalf of
-      the copyright owner. For the purposes of this definition, "submitted"
-      means any form of electronic, verbal, or written communication sent
-      to the Licensor or its representatives, including but not limited to
-      communication on electronic mailing lists, source code control systems,
-      and issue tracking systems that are managed by, or on behalf of, the
-      Licensor for the purpose of discussing and improving the Work, but
-      excluding communication that is conspicuously marked or otherwise
-      designated in writing by the copyright owner as "Not a Contribution."
-
-      "Contributor" shall mean Licensor and any individual or Legal Entity
-      on behalf of whom a Contribution has been received by Licensor and
-      subsequently incorporated within the Work.
-
-   2. Grant of Copyright License. Subject to the terms and conditions of
-      this License, each Contributor hereby grants to You a perpetual,
-      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-      copyright license to reproduce, prepare Derivative Works of,
-      publicly display, publicly perform, sublicense, and distribute the
-      Work and such Derivative Works in Source or Object form.
-
-   3. Grant of Patent License. Subject to the terms and conditions of
-      this License, each Contributor hereby grants to You a perpetual,
-      worldwide, non-exclusive, no-charge, royalty-free, irrevocable
-      (except as stated in this section) patent license to make, have made,
-      use, offer to sell, sell, import, and otherwise transfer the Work,
-      where such license applies only to those patent claims licensable
-      by such Contributor that are necessarily infringed by their
-      Contribution(s) alone or by combination of their Contribution(s)
-      with the Work to which such Contribution(s) was submitted. If You
-      institute patent litigation against any entity (including a
-      cross-claim or counterclaim in a lawsuit) alleging that the Work
-      or a Contribution incorporated within the Work constitutes direct
-      or contributory patent infringement, then any patent licenses
-      granted to You under this License for that Work shall terminate
-      as of the date such litigation is filed.
-
-   4. Redistribution. You may reproduce and distribute copies of the
-      Work or Derivative Works thereof in any medium, with or without
-      modifications, and in Source or Object form, provided that You
-      meet the following conditions:
-
-      (a) You must give any other recipients of the Work or
-          Derivative Works a copy of this License; and
-
-      (b) You must cause any modified files to carry prominent notices
-          stating that You changed the files; and
-
-      (c) You must retain, in the Source form of any Derivative Works
-          that You distribute, all copyright, patent, trademark, and
-          attribution notices from the Source form of the Work,
-          excluding those notices that do not pertain to any part of
-          the Derivative Works; and
-
-      (d) If the Work includes a "NOTICE" text file as part of its
-          distribution, then any Derivative Works that You distribute must
-          include a readable copy of the attribution notices contained
-          within such NOTICE file, excluding those notices that do not
-          pertain to any part of the Derivative Works, in at least one
-          of the following places: within a NOTICE text file distributed
-          as part of the Derivative Works; within the Source form or
-          documentation, if provided along with the Derivative Works; or,
-          within a display generated by the Derivative Works, if and
-          wherever such third-party notices normally appear. The contents
-          of the NOTICE file are for informational purposes only and
-          do not modify the License. You may add Your own attribution
-          notices within Derivative Works that You distribute, alongside
-          or as an addendum to the NOTICE text from the Work, provided
-          that such additional attribution notices cannot be construed
-          as modifying the License.
-
-      You may add Your own copyright statement to Your modifications and
-      may provide additional or different license terms and conditions
-      for use, reproduction, or distribution of Your modifications, or
-      for any such Derivative Works as a whole, provided Your use,
-      reproduction, and distribution of the Work otherwise complies with
-      the conditions stated in this License.
-
-   5. Submission of Contributions. Unless You explicitly state otherwise,
-      any Contribution intentionally submitted for inclusion in the Work
-      by You to the Licensor shall be under the terms and conditions of
-      this License, without any additional terms or conditions.
-      Notwithstanding the above, nothing herein shall supersede or modify
-      the terms of any separate license agreement you may have executed
-      with Licensor regarding such Contributions.
-
-   6. Trademarks. This License does not grant permission to use the trade
-      names, trademarks, service marks, or product names of the Licensor,
-      except as required for reasonable and customary use in describing the
-      origin of the Work and reproducing the content of the NOTICE file.
-
-   7. Disclaimer of Warranty. Unless required by applicable law or
-      agreed to in writing, Licensor provides the Work (and each
-      Contributor provides its Contributions) on an "AS IS" BASIS,
-      WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
-      implied, including, without limitation, any warranties or conditions
-      of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
-      PARTICULAR PURPOSE. You are solely responsible for determining the
-      appropriateness of using or redistributing the Work and assume any
-      risks associated with Your exercise of permissions under this License.
-
-   8. Limitation of Liability. In no event and under no legal theory,
-      whether in tort (including negligence), contract, or otherwise,
-      unless required by applicable law (such as deliberate and grossly
-      negligent acts) or agreed to in writing, shall any Contributor be
-      liable to You for damages, including any direct, indirect, special,
-      incidental, or consequential damages of any character arising as a
-      result of this License or out of the use or inability to use the
-      Work (including but not limited to damages for loss of goodwill,
-      work stoppage, computer failure or malfunction, or any and all
-      other commercial damages or losses), even if such Contributor
-      has been advised of the possibility of such damages.
-
-   9. Accepting Warranty or Additional Liability. While redistributing
-      the Work or Derivative Works thereof, You may choose to offer,
-      and charge a fee for, acceptance of support, warranty, indemnity,
-      or other liability obligations and/or rights consistent with this
-      License. However, in accepting such obligations, You may act only
-      on Your own behalf and on Your sole responsibility, not on behalf
-      of any other Contributor, and only if You agree to indemnify,
-      defend, and hold each Contributor harmless for any liability
-      incurred by, or claims asserted against, such Contributor by reason
-      of your accepting any such warranty or additional liability.
-
-   END OF TERMS AND CONDITIONS
-
-   APPENDIX: How to apply the Apache License to your work.
-
-      To apply the Apache License to your work, attach the following
-      boilerplate notice, with the fields enclosed by brackets "[]"
-      replaced with your own identifying information. (Don't include
-      the brackets!)  The text should be enclosed in the appropriate
-      comment syntax for the file format. We also recommend that a
-      file or class name and description of purpose be included on the
-      same "printed page" as the copyright notice for easier
-      identification within third-party archives.
-
-   Copyright [yyyy] [name of copyright owner]
-
-   Licensed under the Apache License, Version 2.0 (the "License");
-   you may not use this file except in compliance with the License.
-   You may obtain a copy of the License at
-
-       http://www.apache.org/licenses/LICENSE-2.0
-
-   Unless required by applicable law or agreed to in writing, software
-   distributed under the License is distributed on an "AS IS" BASIS,
-   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-   See the License for the specific language governing permissions and
-   limitations under the License.

Gems/ROS2/clang-format-13.sh

@@ -1 +0,0 @@
-find . -iname *.h -o -iname *.cpp | xargs clang-format-13 -i

Gems/ROS2/gem.json

@@ -4,7 +4,7 @@
     "license": "Apache-2.0",
     "license_url": "https://opensource.org/licenses/Apache-2.0",
     "origin": "RobotecAI",
-    "origin_url": "https://github.com/RobotecAI/o3de-ros2-gem",
+    "origin_url": "https://github.com/o3de/o3de-extras/development/Gems/ROS2",
     "type": "Code",
     "summary": "Tools and components to support creating simulations for ros2 systems such as robots",
     "canonical_tags": [