Fix templates for ROS 2 Jazzy for the upcoming release (#756)

* Update levels in RoboticManipulationTemplate
* Update Ros2ProjectTemplate for ROS2 Jazzy
* Update Ros2FleetRobotTemplate for ROS2 Jazzy
* Update Dockerfile in Ros2ProjectTemplate

Signed-off-by: Jan Hanca <[email protected]>

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/params/iron/nav2_multirobot_params.yaml → Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/params/jazzy/nav2_multirobot_params.yaml

@@ -53,66 +53,19 @@ amcl:
 
 bt_navigator:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: true
     global_frame: map
     robot_base_frame: <robot_namespace>/base_link
-    odom_topic: odom
+    odom_topic: /odom
     bt_loop_duration: 10
     default_server_timeout: 20
-    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
-    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
-    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
-    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
-    plugin_lib_names:
-      - nav2_compute_path_to_pose_action_bt_node
-      - nav2_compute_path_through_poses_action_bt_node
-      - nav2_smooth_path_action_bt_node
-      - nav2_follow_path_action_bt_node
-      - nav2_spin_action_bt_node
-      - nav2_wait_action_bt_node
-      - nav2_assisted_teleop_action_bt_node
-      - nav2_back_up_action_bt_node
-      - nav2_drive_on_heading_bt_node
-      - nav2_clear_costmap_service_bt_node
-      - nav2_is_stuck_condition_bt_node
-      - nav2_goal_reached_condition_bt_node
-      - nav2_goal_updated_condition_bt_node
-      - nav2_globally_updated_goal_condition_bt_node
-      - nav2_is_path_valid_condition_bt_node
-      - nav2_initial_pose_received_condition_bt_node
-      - nav2_reinitialize_global_localization_service_bt_node
-      - nav2_rate_controller_bt_node
-      - nav2_distance_controller_bt_node
-      - nav2_speed_controller_bt_node
-      - nav2_truncate_path_action_bt_node
-      - nav2_truncate_path_local_action_bt_node
-      - nav2_goal_updater_node_bt_node
-      - nav2_recovery_node_bt_node
-      - nav2_pipeline_sequence_bt_node
-      - nav2_round_robin_node_bt_node
-      - nav2_transform_available_condition_bt_node
-      - nav2_time_expired_condition_bt_node
-      - nav2_path_expiring_timer_condition
-      - nav2_distance_traveled_condition_bt_node
-      - nav2_single_trigger_bt_node
-      - nav2_goal_updated_controller_bt_node
-      - nav2_is_battery_low_condition_bt_node
-      - nav2_navigate_through_poses_action_bt_node
-      - nav2_navigate_to_pose_action_bt_node
-      - nav2_remove_passed_goals_action_bt_node
-      - nav2_planner_selector_bt_node
-      - nav2_controller_selector_bt_node
-      - nav2_goal_checker_selector_bt_node
-      - nav2_controller_cancel_bt_node
-      - nav2_path_longer_on_approach_bt_node
-      - nav2_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_would_a_controller_recovery_help_condition_bt_node
-      - nav2_would_a_planner_recovery_help_condition_bt_node
-      - nav2_would_a_smoother_recovery_help_condition_bt_node
+    wait_for_service_timeout: 1000
+    action_server_result_timeout: 900.0
+    navigators: [navigate_to_pose, navigate_through_poses]
+    navigate_to_pose:
+      plugin: nav2_bt_navigator::NavigateToPoseNavigator
+    navigate_through_poses:
+      plugin: nav2_bt_navigator::NavigateThroughPosesNavigator
 
 bt_navigator_navigate_through_poses_rclcpp_node:
   ros__parameters:
@@ -265,7 +218,7 @@ planner_server:
     use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -282,13 +235,13 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     global_frame: <robot_namespace>/odom
     robot_base_frame: <robot_namespace>/base_link
     transform_tolerance: 0.1

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/params/iron/nav2_params.yaml → Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/params/jazzy/nav2_params.yaml

@@ -43,66 +43,19 @@ amcl:
 
 bt_navigator:
   ros__parameters:
-    use_sim_time: True
+    use_sim_time: true
     global_frame: map
     robot_base_frame: base_link
     odom_topic: odom
     bt_loop_duration: 10
     default_server_timeout: 20
-    # 'default_nav_through_poses_bt_xml' and 'default_nav_to_pose_bt_xml' are use defaults:
-    # nav2_bt_navigator/navigate_to_pose_w_replanning_and_recovery.xml
-    # nav2_bt_navigator/navigate_through_poses_w_replanning_and_recovery.xml
-    # They can be set here or via a RewrittenYaml remap from a parent launch file to Nav2.
-    plugin_lib_names:
-      - nav2_compute_path_to_pose_action_bt_node
-      - nav2_compute_path_through_poses_action_bt_node
-      - nav2_smooth_path_action_bt_node
-      - nav2_follow_path_action_bt_node
-      - nav2_spin_action_bt_node
-      - nav2_wait_action_bt_node
-      - nav2_assisted_teleop_action_bt_node
-      - nav2_back_up_action_bt_node
-      - nav2_drive_on_heading_bt_node
-      - nav2_clear_costmap_service_bt_node
-      - nav2_is_stuck_condition_bt_node
-      - nav2_goal_reached_condition_bt_node
-      - nav2_goal_updated_condition_bt_node
-      - nav2_globally_updated_goal_condition_bt_node
-      - nav2_is_path_valid_condition_bt_node
-      - nav2_initial_pose_received_condition_bt_node
-      - nav2_reinitialize_global_localization_service_bt_node
-      - nav2_rate_controller_bt_node
-      - nav2_distance_controller_bt_node
-      - nav2_speed_controller_bt_node
-      - nav2_truncate_path_action_bt_node
-      - nav2_truncate_path_local_action_bt_node
-      - nav2_goal_updater_node_bt_node
-      - nav2_recovery_node_bt_node
-      - nav2_pipeline_sequence_bt_node
-      - nav2_round_robin_node_bt_node
-      - nav2_transform_available_condition_bt_node
-      - nav2_time_expired_condition_bt_node
-      - nav2_path_expiring_timer_condition
-      - nav2_distance_traveled_condition_bt_node
-      - nav2_single_trigger_bt_node
-      - nav2_goal_updated_controller_bt_node
-      - nav2_is_battery_low_condition_bt_node
-      - nav2_navigate_through_poses_action_bt_node
-      - nav2_navigate_to_pose_action_bt_node
-      - nav2_remove_passed_goals_action_bt_node
-      - nav2_planner_selector_bt_node
-      - nav2_controller_selector_bt_node
-      - nav2_goal_checker_selector_bt_node
-      - nav2_controller_cancel_bt_node
-      - nav2_path_longer_on_approach_bt_node
-      - nav2_wait_cancel_bt_node
-      - nav2_spin_cancel_bt_node
-      - nav2_back_up_cancel_bt_node
-      - nav2_assisted_teleop_cancel_bt_node
-      - nav2_drive_on_heading_cancel_bt_node
-      - nav2_would_a_controller_recovery_help_condition_bt_node
-      - nav2_would_a_planner_recovery_help_condition_bt_node
-      - nav2_would_a_smoother_recovery_help_condition_bt_node
+    wait_for_service_timeout: 1000
+    action_server_result_timeout: 900.0
+    navigators: [navigate_to_pose, navigate_through_poses]
+    navigate_to_pose:
+      plugin: nav2_bt_navigator::NavigateToPoseNavigator
+    navigate_through_poses:
+      plugin: nav2_bt_navigator::NavigateThroughPosesNavigator
 
 bt_navigator_navigate_through_poses_rclcpp_node:
   ros__parameters:
@@ -255,7 +208,7 @@ planner_server:
     use_sim_time: True
     planner_plugins: ["GridBased"]
     GridBased:
-      plugin: "nav2_navfn_planner/NavfnPlanner"
+      plugin: "nav2_navfn_planner::NavfnPlanner"
       tolerance: 0.5
       use_astar: false
       allow_unknown: true
@@ -272,13 +225,13 @@ behavior_server:
     cycle_frequency: 10.0
     behavior_plugins: ["spin", "backup", "drive_on_heading", "wait"]
     spin:
-      plugin: "nav2_behaviors/Spin"
+      plugin: "nav2_behaviors::Spin"
     backup:
-      plugin: "nav2_behaviors/BackUp"
+      plugin: "nav2_behaviors::BackUp"
     drive_on_heading:
-      plugin: "nav2_behaviors/DriveOnHeading"
+      plugin: "nav2_behaviors::DriveOnHeading"
     wait:
-      plugin: "nav2_behaviors/Wait"
+      plugin: "nav2_behaviors::Wait"
     global_frame: odom
     robot_base_frame: base_link
     transform_tolerance: 0.1

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/setup.py

@@ -15,8 +15,8 @@ setup(
         (os.path.join('share', package_name, 'launch'), glob(os.path.join('launch', '*launch.[pxy][yma]*'))),
         (os.path.join('share', package_name, 'maps'), glob(os.path.join('maps', '*.pgm'))),
         (os.path.join('share', package_name, 'maps'), glob(os.path.join('maps', '*.yaml'))),
-        (os.path.join('share', package_name, 'params', 'iron'), glob(os.path.join('params', 'iron', '*.yaml'))),
         (os.path.join('share', package_name, 'params', 'humble'), glob(os.path.join('params', 'humble', '*.yaml'))),
+        (os.path.join('share', package_name, 'params', 'jazzy'), glob(os.path.join('params', 'jazzy', '*.yaml'))),
         (os.path.join('share', package_name, 'rviz'), glob(os.path.join('rviz', '*.rviz'))),
         (os.path.join('share', package_name, 'config'), glob(os.path.join('config', '*.yaml')))
     ],

Templates/Ros2ProjectTemplate/Docker/Dockerfile

@@ -4,20 +4,19 @@
 # SPDX-License-Identifier: Apache-2.0 OR MIT
 #
 
-ARG ROS_VERSION=iron
-ARG UBUNTU_VERSION=jammy
+ARG ROS_VERSION=jazzy
 
-FROM ros:${ROS_VERSION}-ros-base-${UBUNTU_VERSION}
+FROM ros:${ROS_VERSION}-ros-base
 
 # Argument to determining the image type ('simulation' or 'navstack')
 ARG IMAGE_TYPE=simulation  # Default to 'simulation'
 
 # Arguments for the source repos needed for the Ros2Template sample docker
 ARG O3DE_REPO=https://github.com/o3de/o3de.git
-ARG O3DE_BRANCH=2305.0
+ARG O3DE_BRANCH=main
 
 ARG O3DE_EXTRAS_REPO=https://github.com/o3de/o3de-extras.git
-ARG O3DE_EXTRAS_BRANCH=2305.0
+ARG O3DE_EXTRAS_BRANCH=main
 
 # Additional argument to control build concurrency
 ARG CMAKE_JOBS=8
@@ -30,22 +29,11 @@ WORKDIR $WORKSPACE
 
 RUN apt-get update && apt-get upgrade -y
 
-# For ubuntu 20.04 (focal) the default version of cmake is not supported. Update and get version 3.24.1 from kitware
-RUN if [ "${UBUNTU_VERSION}" = "focal" ]; then \
-        apt-get install -y --no-install-recommends gpg wget curl && \
-        wget -O - https://apt.kitware.com/keys/kitware-archive-latest.asc 2>/dev/null | \
-            gpg --dearmor - | \
-            tee /usr/share/keyrings/kitware-archive-keyring.gpg >/dev/null && \
-        echo 'deb [signed-by=/usr/share/keyrings/kitware-archive-keyring.gpg] https://apt.kitware.com/ubuntu/ focal main' | \
-            tee /etc/apt/sources.list.d/kitware.list >/dev/null && \
-        apt-get update; \
-    fi
-
 # Install packages needed for cloning and building from the source repos
 RUN apt-get install -y --no-install-recommends \
     git \
     git-lfs \
-    clang-12 \
+    clang \
     ninja-build \
     cmake \
     libglu1-mesa-dev \

Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/README.md

@@ -30,7 +30,7 @@ Open a bash console terminal (always make sure your [ROS 2 is sourced](https://d
 cd #{O3DE_EXTRAS_HOME}/Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch
 ros2 launch navigation.launch.py
 ```
-You should see RViz2, a ROS 2 visualisation tool.
+You should see RViz2, a ROS 2 visualization tool.
 
 ### Set the goal 
 

Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/config/navigation_params_jazzy.yaml

@@ -0,0 +1,418 @@
+bt_navigator:
+  ros__parameters:
+    use_sim_time: true
+    global_frame: map
+    robot_base_frame: base_link
+    odom_topic: /odom
+    bt_loop_duration: 10
+    default_server_timeout: 20
+    wait_for_service_timeout: 1000
+    action_server_result_timeout: 900.0
+    navigators: [navigate_to_pose, navigate_through_poses]
+    navigate_to_pose:
+      plugin: nav2_bt_navigator::NavigateToPoseNavigator
+    navigate_through_poses:
+      plugin: nav2_bt_navigator::NavigateThroughPosesNavigator
+
+bt_navigator_rclcpp_node:
+  ros__parameters:
+    use_sim_time: true
+
+controller_server:
+  ros__parameters:
+    use_sim_time: True
+    controller_frequency: 20.0
+    min_x_velocity_threshold: 0.001
+    min_y_velocity_threshold: 0.5
+    min_theta_velocity_threshold: 0.001
+    failure_tolerance: 0.3
+    progress_checker_plugin: "progress_checker"
+    goal_checker_plugins: ["general_goal_checker"] # "precise_goal_checker"
+    controller_plugins: ["FollowPath"]
+
+    # Progress checker parameters
+    progress_checker:
+      plugin: "nav2_controller::SimpleProgressChecker"
+      required_movement_radius: 0.5
+      movement_time_allowance: 10.0
+    # Goal checker parameters
+    #precise_goal_checker:
+    #  plugin: "nav2_controller::SimpleGoalChecker"
+    #  xy_goal_tolerance: 0.25
+    #  yaw_goal_tolerance: 0.25
+    #  stateful: True
+    general_goal_checker:
+      stateful: True
+      plugin: "nav2_controller::SimpleGoalChecker"
+      xy_goal_tolerance: 0.25
+      yaw_goal_tolerance: 0.25
+    # DWB parameters
+    FollowPath:
+      plugin: "dwb_core::DWBLocalPlanner"
+      debug_trajectory_details: True
+      min_vel_x: -1.2
+      min_vel_y: 0.0
+      max_vel_x: 1.2
+      max_vel_y: 0.0
+      max_vel_theta: 2.0
+      min_speed_xy: 0.0
+      max_speed_xy: 2.0
+      min_speed_theta: 0.0
+      # Add high threshold velocity for turtlebot 3 issue.
+      # https://github.com/ROBOTIS-GIT/turtlebot3_simulations/issues/75
+      acc_lim_x: 5.0
+      acc_lim_y: 0.0
+      acc_lim_theta: 3.2
+      decel_lim_x: -2.5
+      decel_lim_y: 0.0
+      decel_lim_theta: -3.2
+      vx_samples: 20
+      vy_samples: 5
+      vtheta_samples: 20
+      sim_time: 1.7
+      linear_granularity: 0.05
+      angular_granularity: 0.025
+      transform_tolerance: 0.2
+      xy_goal_tolerance: 0.25
+      trans_stopped_velocity: 0.25
+      short_circuit_trajectory_evaluation: True
+      stateful: True
+      critics: ["RotateToGoal", "Oscillation", "BaseObstacle", "GoalAlign", "PathAlign", "PathDist", "GoalDist"]
+      BaseObstacle.scale: 0.02
+      PathAlign.scale: 32.0
+      PathAlign.forward_point_distance: 0.1
+      GoalAlign.scale: 24.0
+      GoalAlign.forward_point_distance: 0.1
+      PathDist.scale: 32.0
+      GoalDist.scale: 24.0
+      RotateToGoal.scale: 32.0
+      RotateToGoal.slowing_factor: 5.0
+      RotateToGoal.lookahead_time: -1.0
+      
+controller_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+local_costmap:
+  local_costmap:
+    ros__parameters:
+      update_frequency: 5.0
+      publish_frequency: 2.0
+      global_frame: odom
+      robot_base_frame: base_link
+      use_sim_time: True
+      rolling_window: true
+      width: 3
+      height: 3
+      resolution: 0.05
+      robot_radius: 0.22
+      plugins: ["voxel_layer", "inflation_layer"]
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.23
+      voxel_layer:
+        plugin: "nav2_costmap_2d::VoxelLayer"
+        enabled: True
+        publish_voxel_map: True
+        origin_z: 0.0
+        z_resolution: 0.05
+        z_voxels: 16
+        max_obstacle_height: 2.0
+        mark_threshold: 0
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        map_subscribe_transient_local: True
+      always_send_full_costmap: True
+  local_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  local_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+global_costmap:
+  global_costmap:
+    ros__parameters:
+      update_frequency: 1.0
+      publish_frequency: 1.0
+      global_frame: map
+      robot_base_frame: base_link
+      use_sim_time: True
+      robot_radius: 0.22
+      resolution: 0.05
+      track_unknown_space: true
+      plugins: ["static_layer", "obstacle_layer", "inflation_layer"]
+      obstacle_layer:
+        plugin: "nav2_costmap_2d::ObstacleLayer"
+        enabled: True
+        observation_sources: scan
+        scan:
+          topic: /scan
+          max_obstacle_height: 2.0
+          clearing: True
+          marking: True
+          data_type: "LaserScan"
+          raytrace_max_range: 3.0
+          raytrace_min_range: 0.0
+          obstacle_max_range: 2.5
+          obstacle_min_range: 0.0
+      static_layer:
+        plugin: "nav2_costmap_2d::StaticLayer"
+        map_subscribe_transient_local: True
+      inflation_layer:
+        plugin: "nav2_costmap_2d::InflationLayer"
+        cost_scaling_factor: 3.0
+        inflation_radius: 0.35
+      always_send_full_costmap: True
+  global_costmap_client:
+    ros__parameters:
+      use_sim_time: True
+  global_costmap_rclcpp_node:
+    ros__parameters:
+      use_sim_time: True
+
+map_saver:
+  ros__parameters:
+    use_sim_time: True
+    save_map_timeout: 5.0
+    free_thresh_default: 0.25
+    occupied_thresh_default: 0.65
+    map_subscribe_transient_local: True
+
+planner_server:
+  ros__parameters:
+    expected_planner_frequency: 20.0
+    use_sim_time: True
+    planner_plugins: ["GridBased"]
+    GridBased:
+      plugin: "nav2_smac_planner::SmacPlanner2D"
+      tolerance: 0.5
+      use_astar: true
+      allow_unknown: true
+
+planner_server_rclcpp_node:
+  ros__parameters:
+    use_sim_time: True
+
+recoveries_server:
+  ros__parameters:
+    costmap_topic: local_costmap/costmap_raw
+    footprint_topic: local_costmap/published_footprint
+    cycle_frequency: 10.0
+    recovery_plugins: ["spin", "backup", "wait"]
+    spin:
+      plugin: "nav2_recoveries::Spin"
+    backup:
+      plugin: "nav2_recoveries::BackUp"
+    wait:
+      plugin: "nav2_recoveries::Wait"
+    global_frame: odom
+    robot_base_frame: base_link
+    transform_timeout: 0.1
+    use_sim_time: true
+    simulate_ahead_time: 2.0
+    max_rotational_vel: 1.0
+    min_rotational_vel: 0.4
+    rotational_acc_lim: 3.2
+
+robot_state_publisher:
+  ros__parameters:
+    use_sim_time: True
+
+waypoint_follower:
+  ros__parameters:
+    loop_rate: 20
+    stop_on_failure: false
+    waypoint_task_executor_plugin: "wait_at_waypoint"   
+    wait_at_waypoint:
+      plugin: "nav2_waypoint_follower::WaitAtWaypoint"
+      enabled: True
+      waypoint_pause_duration: 200
+
+velocity_smoother:
+  ros__parameters:
+    use_sim_time: true
+    smoothing_frequency: 5.0
+    scale_velocities: false
+    feedback: OPEN_LOOP
+    max_velocity: [0.5, 0.0, 1.5]
+    min_velocity: [-0.5, 0.0, -1.5]
+    max_accel: [1.0, 0.0, 3.2]
+    max_decel: [-1.0, 0.0, -3.2]
+    # odom_topic: "odometry/filtered"
+    odom_duration: 0.1
+    deadband_velocity: [0.01, 0.01, 0.1] # Measured
+    velocity_timeout: 1.0
+
+docking_server:
+  ros__parameters:
+    # Types of docks
+    dock_plugins: ['nova_carter_dock']
+    nova_carter_dock:
+      plugin: 'opennav_docking::SimpleChargingDock'
+    docks: ['home_dock']
+    # Dock instances
+    # docks: ['home_dock','flex_dock1', 'flex_dock2']
+    home_dock:
+      type: 'nova_carter_dock'
+      frame: map
+      pose: [0.0, 0.0, 0.0]
+#     flex_dock1:
+#       type: 'nova_carter_dock'
+#       frame: map
+#       pose: [10.0, 10.0, 0.0]
+#     flex_dock2:
+#       type: 'nova_carter_dock'
+#       frame: map
+#       pose: [30.0, 30.0, 0.0]
+
+collision_detector:
+  ros__parameters:
+    base_frame_id: "base_footprint"
+    odom_frame_id: "odom"
+    transform_tolerance: 0.5
+    source_timeout: 5.0
+    base_shift_correction: True
+    polygons: ["PolygonFront"]
+    PolygonFront:
+      type: "polygon"
+      points: "[[0.3, 0.3], [0.3, -0.3], [0.0, -0.3], [0.0, 0.3]]"
+      action_type: "none"
+      min_points: 4
+      visualize: True
+      polygon_pub_topic: "polygon_front"
+    observation_sources: ["scan"]
+    scan:
+      source_timeout: 0.2
+      type: "scan"
+      topic: "scan"
+      enabled: True
+    pointcloud:
+      type: "pointcloud"
+      topic: "/intel_realsense_r200_depth/points"
+      min_height: 0.1
+      max_height: 0.5
+      enabled: True
+
+smoother_server:
+  ros__parameters:
+    costmap_topic: global_costmap/costmap_raw
+    footprint_topic: global_costmap/published_footprint
+    robot_base_frame: base_link
+    transform_timeout: 0.1
+    smoother_plugins: ["simple_smoother"]
+    simple_smoother:
+      plugin: "nav2_smoother::SimpleSmoother"
+      tolerance: 1.0e-10
+      do_refinement: True
+
+collision_monitor:
+  ros__parameters:
+    base_frame_id: "base_footprint"
+    odom_frame_id: "odom"
+    cmd_vel_in_topic: "cmd_vel_smoothed"
+    cmd_vel_out_topic: "cmd_vel"
+    state_topic: "collision_monitor_state"
+    transform_tolerance: 0.5
+    source_timeout: 5.0
+    base_shift_correction: True
+    stop_pub_timeout: 2.0
+    enable_stamped_cmd_vel: False
+    use_realtime_priority: false
+    polygons: ["PolygonStop", "PolygonSlow", "FootprintApproach"]
+    PolygonStop:
+      type: "circle"
+      radius: 0.3
+      action_type: "stop"
+      min_points: 4  # max_points: 3 for Humble
+      visualize: True
+      polygon_pub_topic: "polygon_stop"
+      enabled: False
+    PolygonSlow:
+      type: "polygon"
+      points: "[[1.0, 1.0], [1.0, -1.0], [-0.5, -1.0], [-0.5, 1.0]]"
+      action_type: "slowdown"
+      min_points: 4  # max_points: 3 for Humble
+      slowdown_ratio: 0.3
+      visualize: True
+      polygon_pub_topic: "polygon_slowdown"
+      enabled: False
+    PolygonLimit:
+      type: "polygon"
+      points: "[[0.5, 0.5], [0.5, -0.5], [-0.5, -0.5], [-0.5, 0.5]]"
+      action_type: "limit"
+      min_points: 4  # max_points: 3 for Humble
+      linear_limit: 0.4
+      angular_limit: 0.5
+      visualize: True
+      polygon_pub_topic: "polygon_limit"
+      enabled: False
+    FootprintApproach:
+      type: "polygon"
+      action_type: "approach"
+      footprint_topic: "/local_costmap/published_footprint"
+      time_before_collision: 2.0
+      simulation_time_step: 0.02
+      min_points: 6  # max_points: 5 for Humble
+      visualize: False
+      enabled: False
+    VelocityPolygonStop:
+      type: "velocity_polygon"
+      action_type: "stop"
+      min_points: 6
+      visualize: True
+      enabled: False
+      polygon_pub_topic: "velocity_polygon_stop"
+      velocity_polygons: ["rotation", "translation_forward", "translation_backward", "stopped"]
+      holonomic: false
+      rotation:
+        points: "[[0.3, 0.3], [0.3, -0.3], [-0.3, -0.3], [-0.3, 0.3]]"
+        linear_min: 0.0
+        linear_max: 0.05
+        theta_min: -1.0
+        theta_max: 1.0
+      translation_forward:
+        points: "[[0.35, 0.3], [0.35, -0.3], [-0.2, -0.3], [-0.2, 0.3]]"
+        linear_min: 0.0
+        linear_max: 1.0
+        theta_min: -1.0
+        theta_max: 1.0
+      translation_backward:
+        points: "[[0.2, 0.3], [0.2, -0.3], [-0.35, -0.3], [-0.35, 0.3]]"
+        linear_min: -1.0
+        linear_max: 0.0
+        theta_min: -1.0
+        theta_max: 1.0
+      # This is the last polygon to be checked, it should cover the entire range of robot's velocities
+      # It is used as the stopped polygon when the robot is not moving and as a fallback if the velocity
+      # is not covered by any of the other sub-polygons
+      stopped:
+        points: "[[0.25, 0.25], [0.25, -0.25], [-0.25, -0.25], [-0.25, 0.25]]"
+        linear_min: -1.0
+        linear_max: 1.0
+        theta_min: -1.0
+        theta_max: 1.0
+    observation_sources: ["scan", "pointcloud"]
+    scan:
+      source_timeout: 0.2
+      type: "scan"
+      topic: "/scan"
+      enabled: False
+    pointcloud:
+      type: "pointcloud"
+      topic: "/points"
+      min_height: 0.1
+      max_height: 0.5
+      enabled: False
+

Templates/Ros2ProjectTemplate/Template/Examples/slam_navigation/launch/navigation.launch.py

@@ -13,6 +13,7 @@
 # limitations under the License.
 
 import pathlib
+import os
 
 from ament_index_python.packages import get_package_share_directory
 
@@ -22,6 +23,7 @@ from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch_ros.actions import Node
 
 def generate_launch_description():
+    ros_distro = os.getenv('ROS_DISTRO', 'humble')
     return LaunchDescription([
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([str(pathlib.Path(__file__).parent.absolute().joinpath('slam.launch.py'))])
@@ -29,7 +31,7 @@ def generate_launch_description():
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource([str(pathlib.Path(get_package_share_directory("nav2_bringup")).joinpath('launch', 'navigation_launch.py'))]),
             launch_arguments = {
-                'params_file': str(pathlib.Path(__file__).parent.absolute().joinpath('config', 'navigation_params.yaml'))
+                'params_file': str(pathlib.Path(__file__).parent.absolute().joinpath('config', f'navigation_params_{ros_distro}.yaml'))
             }.items()
         ),
         Node(

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

@@ -252,89 +252,6 @@
                 }
             }
         },
-        "Entity_[558067385513]": {
-            "Id": "Entity_[558067385513]",
-            "Name": "marker",
-            "Components": {
-                "Component_[12345039422781644436]": {
-                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
-                    "Id": 12345039422781644436,
-                    "Parent Entity": "Entity_[545532067501]",
-                    "Transform Data": {
-                        "UniformScale": 0.10000000149011612
-                    }
-                },
-                "Component_[16311924938308571969]": {
-                    "$type": "AZ::Render::EditorMeshComponent",
-                    "Id": 16311924938308571969,
-                    "Controller": {
-                        "Configuration": {
-                            "ModelAsset": {
-                                "assetId": {
-                                    "guid": "{1EE46427-D1C2-5698-B30D-B4CCF46B15CD}",
-                                    "subId": 274434668
-                                },
-                                "assetHint": "objects/_primitives/_sphere_1x1.azmodel"
-                            }
-                        }
-                    }
-                },
-                "Component_[17981273470482180971]": {
-                    "$type": "EditorEntitySortComponent",
-                    "Id": 17981273470482180971
-                },
-                "Component_[2065222331617120332]": {
-                    "$type": "EditorVisibilityComponent",
-                    "Id": 2065222331617120332
-                },
-                "Component_[2096811794606887530]": {
-                    "$type": "EditorDisabledCompositionComponent",
-                    "Id": 2096811794606887530
-                },
-                "Component_[2855690690078728486]": {
-                    "$type": "EditorPendingCompositionComponent",
-                    "Id": 2855690690078728486
-                },
-                "Component_[2915573670259884143]": {
-                    "$type": "EditorMaterialComponent",
-                    "Id": 2915573670259884143,
-                    "Controller": {
-                        "Configuration": {
-                            "materials": [
-                                {
-                                    "Key": {
-                                        "materialSlotStableId": 1738373820
-                                    },
-                                    "Value": {
-                                        "MaterialAsset": {
-                                            "assetId": {
-                                                "guid": "{9C47066E-BD8F-5C1B-B935-933296BBE312}"
-                                            }
-                                        }
-                                    }
-                                }
-                            ]
-                        }
-                    }
-                },
-                "Component_[3984524579386645338]": {
-                    "$type": "EditorLockComponent",
-                    "Id": 3984524579386645338
-                },
-                "Component_[6180558729729631244]": {
-                    "$type": "EditorInspectorComponent",
-                    "Id": 6180558729729631244
-                },
-                "Component_[6203285465432256414]": {
-                    "$type": "EditorOnlyEntityComponent",
-                    "Id": 6203285465432256414
-                },
-                "Component_[7639289353853227968]": {
-                    "$type": "EditorEntityIconComponent",
-                    "Id": 7639289353853227968
-                }
-            }
-        },
         "Entity_[541237100205]": {
             "Id": "Entity_[541237100205]",
             "Name": "Navigation Goals",
@@ -351,7 +268,7 @@
                     "$type": "GenericComponentWrapper",
                     "Id": 2318932367744128274,
                     "m_template": {
-                        "$type": "${SanitizedCppName}SampleComponent",
+                        "$type": "R2PTSampleComponent",
                         "goals": [
                             "Entity_[549827034797]",
                             "Entity_[545532067501]"
@@ -453,10 +370,7 @@
                 },
                 "Component_[9226016495091865703]": {
                     "$type": "EditorOnlyEntityComponent",
-                    "Id": 3950088389572830633,
-                    "Child Entity Order": [
-                        "Entity_[558067385513]"
-                    ]
+                    "Id": 3950088389572830633
                 }
             }
         },
@@ -522,6 +436,90 @@
                 }
             }
         },
+        "Entity_[558067385513]": {
+            "Id": "Entity_[558067385513]",
+            "Name": "marker",
+            "Components": {
+                "Component_[12345039422781644436]": {
+                    "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent",
+                    "Id": 12345039422781644436,
+                    "Parent Entity": "Entity_[545532067501]",
+                    "Transform Data": {
+                        "UniformScale": 0.10000000149011612
+                    }
+                },
+                "Component_[16311924938308571969]": {
+                    "$type": "AZ::Render::EditorMeshComponent",
+                    "Id": 16311924938308571969,
+                    "Controller": {
+                        "Configuration": {
+                            "ModelAsset": {
+                                "assetId": {
+                                    "guid": "{1EE46427-D1C2-5698-B30D-B4CCF46B15CD}",
+                                    "subId": 274434668
+                                },
+                                "assetHint": "objects/_primitives/_sphere_1x1.azmodel"
+                            }
+                        }
+                    }
+                },
+                "Component_[17981273470482180971]": {
+                    "$type": "EditorEntitySortComponent",
+                    "Id": 17981273470482180971
+                },
+                "Component_[2065222331617120332]": {
+                    "$type": "EditorVisibilityComponent",
+                    "Id": 2065222331617120332
+                },
+                "Component_[2096811794606887530]": {
+                    "$type": "EditorDisabledCompositionComponent",
+                    "Id": 2096811794606887530
+                },
+                "Component_[2855690690078728486]": {
+                    "$type": "EditorPendingCompositionComponent",
+                    "Id": 2855690690078728486
+                },
+                "Component_[2915573670259884143]": {
+                    "$type": "EditorMaterialComponent",
+                    "Id": 2915573670259884143,
+                    "Controller": {
+                        "Configuration": {
+                            "materials": [
+                                {
+                                    "Key": {
+                                        "materialSlotStableId": 1738373820
+                                    },
+                                    "Value": {
+                                        "MaterialAsset": {
+                                            "assetId": {
+                                                "guid": "{9C47066E-BD8F-5C1B-B935-933296BBE312}"
+                                            },
+                                            "assetHint": "materials/presets/macbeth/15_red.azmaterial"
+                                        }
+                                    }
+                                }
+                            ]
+                        }
+                    }
+                },
+                "Component_[3984524579386645338]": {
+                    "$type": "EditorLockComponent",
+                    "Id": 3984524579386645338
+                },
+                "Component_[6180558729729631244]": {
+                    "$type": "EditorInspectorComponent",
+                    "Id": 6180558729729631244
+                },
+                "Component_[6203285465432256414]": {
+                    "$type": "EditorOnlyEntityComponent",
+                    "Id": 6203285465432256414
+                },
+                "Component_[7639289353853227968]": {
+                    "$type": "EditorEntityIconComponent",
+                    "Id": 7639289353853227968
+                }
+            }
+        },
         "Entity_[884702554292]": {
             "Id": "Entity_[884702554292]",
             "Name": "Environmental Light",
@@ -627,7 +625,7 @@
                 {
                     "op": "replace",
                     "path": "/Instances/Instance_[3732164110801]/Entities/Entity_[7512134816442]/Components/Component_[2887398288324076962]/Configuration/Centre of mass offset/0",
-                    "value": 8.756181335556331e-10
+                    "value": 8.75618133555633e-10
                 },
                 {
                     "op": "replace",
@@ -667,7 +665,7 @@
                 {
                     "op": "replace",
                     "path": "/Instances/Instance_[3732164110801]/Entities/Entity_[7486365012666]/Components/Component_[17075084475750345983]/Configuration/Centre of mass offset/0",
-                    "value": 8.756181335556331e-10
+                    "value": 8.75618133555633e-10
                 },
                 {
                     "op": "replace",
@@ -697,7 +695,7 @@
                 {
                     "op": "replace",
                     "path": "/Instances/Instance_[3732164110801]/Entities/Entity_[7494954947258]/Components/Component_[5546255188884728002]/Configuration/Centre of mass offset/0",
-                    "value": 8.756181335556331e-10
+                    "value": 8.75618133555633e-10
                 },
                 {
                     "op": "replace",
@@ -732,7 +730,7 @@
                 {
                     "op": "replace",
                     "path": "/Instances/Instance_[3732164110801]/Entities/Entity_[7525019718330]/Components/Component_[11685358238844952494]/Configuration/Centre of mass offset/0",
-                    "value": 8.756181335556331e-10
+                    "value": 8.75618133555633e-10
                 },
                 {
                     "op": "replace",
@@ -836,298 +834,13 @@
                 },
                 {
                     "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/0/MaterialAsset/assetId/guid",
-                    "value": "{07918D02-A9A8-5954-8E5D-C2FE080F8010}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/0/MaterialAsset/assetHint",
-                    "value": "physx/plastic.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/1/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/1/MaterialAsset/assetId/subId",
-                    "value": 0
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/1/MaterialAsset/assetHint",
-                    "value": ""
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/2/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/2/MaterialAsset/assetId/subId",
-                    "value": 0
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/2/MaterialAsset/assetHint",
-                    "value": ""
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/3/MaterialAsset/assetId/guid",
-                    "value": "{0C799856-9E0E-568D-A282-597D13A8556C}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/3/MaterialAsset/assetHint",
-                    "value": "physx/wood.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/4/MaterialAsset/assetId/guid",
-                    "value": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/4/MaterialAsset/assetHint",
-                    "value": "physx/metal.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/5/MaterialAsset/assetId/guid",
-                    "value": "{6D044767-4E3B-5116-A1A7-9C65BCF586A0}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/5/MaterialAsset/assetHint",
-                    "value": "physx/terrain_dirt.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/6/MaterialAsset/assetId/guid",
-                    "value": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/6/MaterialAsset/assetHint",
-                    "value": "physx/metal.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/7/MaterialAsset/assetId/guid",
-                    "value": "{AEFC12E4-B92E-5473-9B09-C6CDEC23EC7E}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/7/MaterialAsset/assetHint",
-                    "value": "physx/concrete.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/8/MaterialAsset/assetId/guid",
-                    "value": "{AEFC12E4-B92E-5473-9B09-C6CDEC23EC7E}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/8/MaterialAsset/assetHint",
-                    "value": "physx/concrete.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/10/MaterialAsset/assetId/guid",
-                    "value": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/10/MaterialAsset/assetHint",
-                    "value": "physx/metal.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/11/MaterialAsset/assetId/guid",
-                    "value": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/11/MaterialAsset/assetHint",
-                    "value": "physx/metal.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/12/MaterialAsset/assetId/guid",
-                    "value": "{92A5EC27-1AC1-523E-88BB-9A6278DBD853}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/12/MaterialAsset/assetHint",
-                    "value": "physx/metal.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/13/MaterialAsset/assetId/guid",
-                    "value": "{AEFC12E4-B92E-5473-9B09-C6CDEC23EC7E}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/13/MaterialAsset/assetHint",
-                    "value": "physx/concrete.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/14/MaterialAsset/assetId/guid",
-                    "value": "{0A945400-0986-5053-9811-D4F349E73B9C}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/14/MaterialAsset/assetHint",
-                    "value": "physx/character.physicsmaterial"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/15/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
-                },
-                {
-                    "op": "replace",
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-                    "value": 0
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-                    "value": ""
-                },
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-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/16/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
-                },
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-                    "value": 0
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-                    "value": ""
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/17/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
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-                    "value": "{00000000-0000-0000-0000-000000000000}"
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-                },
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-                    "value": ""
-                },
-                {
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-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/20/MaterialAsset/assetId/guid",
-                    "value": "{6D9F8E0A-466E-5774-8974-FC7F0872FD00}"
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-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/20/MaterialAsset/assetHint",
-                    "value": "physx/rubber.physicsmaterial"
-                },
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-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/21/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
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-                    "value": ""
-                },
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-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/22/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
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-                    "value": 0
-                },
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-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/22/MaterialAsset/assetHint",
-                    "value": ""
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/23/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/23/MaterialAsset/assetId/subId",
-                    "value": 0
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/23/MaterialAsset/assetHint",
-                    "value": ""
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/24/MaterialAsset/assetId/guid",
-                    "value": "{00000000-0000-0000-0000-000000000000}"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/24/MaterialAsset/assetId/subId",
-                    "value": 0
+                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ShapeConfiguration/PhysicsAsset/Asset/assetHint",
+                    "value": "o3descene/warehouse.fbx.pxmesh"
                 },
                 {
                     "op": "replace",
-                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ColliderConfiguration/MaterialSlots/Slots/24/MaterialAsset/assetHint",
-                    "value": ""
+                    "path": "/Entities/Entity_[729070309458]/Components/Component_[9485936813148123686]/ShapeConfiguration/PhysicsAsset/Configuration/PhysicsAsset/assetHint",
+                    "value": "o3descene/warehouse.fbx.pxmesh"
                 }
             ]
         }

Templates/Ros2ProjectTemplate/template.json

@@ -423,7 +423,11 @@
             "isTemplated": false
         },
         {
-            "file": "Examples/slam_navigation/launch/config/navigation_params.yaml",
+            "file": "Examples/slam_navigation/launch/config/navigation_params_humble.yaml",
+            "isTemplated": false
+        },
+        {
+            "file": "Examples/slam_navigation/launch/config/navigation_params_jazzy.yaml",
             "isTemplated": false
         },
         {

Templates/Ros2RoboticManipulationTemplate/Template/Levels/RoboticManipulation/RoboticManipulation.prefab

@@ -1903,24 +1903,7 @@
                     "$type": "EditorRigidBodyComponent",
                     "Id": 6554809807315683945,
                     "Configuration": {
-                        "entityId": "",
-                        "Mass": 0.07601521909236908,
-                        "Centre of mass offset": [
-                            1.7074251734694457e-10,
-                            -5.035076799941862e-9,
-                            0.025298872962594032
-                        ],
-                        "Inertia tensor": [
-                            0.000027028370823245496,
-                            0.0,
-                            0.0,
-                            0.0,
-                            0.00002738683542702347,
-                            0.0,
-                            0.0,
-                            0.0,
-                            0.000021981184545438737
-                        ]
+                        "entityId": ""
                     }
                 },
                 "EditorVisibilityComponent": {
@@ -5994,16 +5977,6 @@
                     "op": "replace",
                     "path": "/Entities/Entity_[807479467760]/Components/EditorMeshColliderComponent/ShapeConfiguration/PhysicsAsset/Configuration/PhysicsAsset/assetHint",
                     "value": "assets/urdfimporter/1440394708_panda/finger.stl.pxmesh"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[730170056432]/Components/ROS2FrameEditorComponent/ROS2FrameConfiguration/Namespace Configuration/Namespace",
-                    "value": "panda_link3"
-                },
-                {
-                    "op": "replace",
-                    "path": "/Entities/Entity_[747349925616]/Components/ROS2FrameEditorComponent/ROS2FrameConfiguration/Namespace Configuration/Namespace",
-                    "value": "panda_link2"
                 }
             ]
         }

repo.json

@@ -2466,11 +2466,11 @@
                             "isTemplated": false
                         },
                         {
-                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/iron/nav2_multirobot_params.yaml",
+                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/jazzy/nav2_multirobot_params.yaml",
                             "isTemplated": false
                         },
                         {
-                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/iron/nav2_params.yaml",
+                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/jazzy/nav2_params.yaml",
                             "isTemplated": false
                         },
                         {
@@ -2946,11 +2946,11 @@
                             "isTemplated": false
                         },
                         {
-                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/iron/nav2_multirobot_params.yaml",
+                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/jazzy/nav2_multirobot_params.yaml",
                             "isTemplated": false
                         },
                         {
-                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/iron/nav2_params.yaml",
+                            "file": "Examples/ros2_ws/src/o3de_fleet_nav/params/jazzy/nav2_params.yaml",
                             "isTemplated": false
                         },
                         {
@@ -3545,7 +3545,11 @@
                     "isTemplated": false
                 },
                 {
-                    "file": "Examples/slam_navigation/launch/config/navigation_params.yaml",
+                    "file": "Examples/slam_navigation/launch/config/navigation_params_humble.yaml",
+                    "isTemplated": false
+                },
+                {
+                    "file": "Examples/slam_navigation/launch/config/navigation_params_jazzy.yaml",
                     "isTemplated": false
                 },
                 {
@@ -4095,7 +4099,11 @@
                             "isTemplated": false
                         },
                         {
-                            "file": "Examples/slam_navigation/launch/config/navigation_params.yaml",
+                            "file": "Examples/slam_navigation/launch/config/navigation_params_humble.yaml",
+                            "isTemplated": false
+                        },
+                        {
+                            "file": "Examples/slam_navigation/launch/config/navigation_params_jazzy.yaml",
                             "isTemplated": false
                         },
                         {
@@ -4525,7 +4533,11 @@
                             "isTemplated": false
                         },
                         {
-                            "file": "Examples/slam_navigation/launch/config/navigation_params.yaml",
+                            "file": "Examples/slam_navigation/launch/config/navigation_params_humble.yaml",
+                            "isTemplated": false
+                        },
+                        {
+                            "file": "Examples/slam_navigation/launch/config/navigation_params_jazzy.yaml",
                             "isTemplated": false
                         },
                         {