o3de-extras/Gems/ROS2/Code/Source/ROS2ModuleInterface.h

/*
 * Copyright (c) Contributors to the Open 3D Engine Project.
 * For complete copyright and license terms please see the LICENSE at the root of this distribution.
 *
 * SPDX-License-Identifier: Apache-2.0 OR MIT
 *
 */
#pragma once

#include <AzCore/Memory/SystemAllocator.h>
#include <AzCore/Module/Module.h>
#include <Camera/PostProcessing/ROS2ImageEncodingConversionComponent.h>
#include <Camera/ROS2CameraSensorComponent.h>
#include <Camera/ROS2CameraSystemComponent.h>
#include <GNSS/ROS2GNSSSensorComponent.h>
#include <Gripper/FingerGripperComponent.h>
#include <Gripper/GripperActionServerComponent.h>
#include <Gripper/VacuumGripperComponent.h>
#include <Imu/ROS2ImuSensorComponent.h>
#include <Lidar/ClassSegmentationConfigurationComponent.h>
#include <Lidar/LidarRegistrarSystemComponent.h>
#include <Lidar/ROS2Lidar2DSensorComponent.h>
#include <Lidar/ROS2LidarSensorComponent.h>
#include <Manipulation/Controllers/JointsArticulationControllerComponent.h>
#include <Manipulation/Controllers/JointsPIDControllerComponent.h>
#include <Manipulation/JointsManipulationComponent.h>
#include <Manipulation/JointsPositionsComponent.h>
#include <Manipulation/JointsTrajectoryComponent.h>
#include <Odometry/ROS2OdometrySensorComponent.h>
#include <Odometry/ROS2WheelOdometry.h>
#include <ROS2/Frame/ROS2FrameComponent.h>
#include <ROS2/Manipulation/MotorizedJoints/JointMotorControllerComponent.h>
#include <ROS2/Manipulation/MotorizedJoints/ManualMotorControllerComponent.h>
#include <ROS2/Manipulation/MotorizedJoints/PidMotorControllerComponent.h>
#include <RobotControl/Controllers/AckermannController/AckermannControlComponent.h>
#include <RobotControl/Controllers/RigidBodyController/RigidBodyTwistControlComponent.h>
#include <RobotControl/Controllers/SkidSteeringController/SkidSteeringControlComponent.h>
#include <RobotControl/ROS2RobotControlComponent.h>
#include <RobotImporter/ROS2RobotImporterSystemComponent.h>
#include <SimulationUtils/FollowingCameraComponent.h>
#include <SystemComponents/ROS2SystemComponent.h>
#include <VehicleDynamics/ModelComponents/AckermannModelComponent.h>
#include <VehicleDynamics/ModelComponents/SkidSteeringModelComponent.h>
#include <VehicleDynamics/VehicleModelComponent.h>
#include <VehicleDynamics/WheelControllerComponent.h>
#ifdef WITH_GAZEBO_MSGS
#include <Spawner/ROS2SpawnPointComponent.h>
#include <Spawner/ROS2SpawnerComponent.h>
#include <ContactSensor/ROS2ContactSensorComponent.h>
#endif
namespace ROS2
{
    class ROS2ModuleInterface : public AZ::Module
    {
    public:
        AZ_RTTI(ROS2ModuleInterface, "{8b5567cb-1de9-49af-9cd4-9750d4abcd6b}", AZ::Module);
        AZ_CLASS_ALLOCATOR(ROS2ModuleInterface, AZ::SystemAllocator);

        ROS2ModuleInterface()
        {
            m_descriptors.insert(
                m_descriptors.end(),
                {
                    ROS2SystemComponent::CreateDescriptor(),
                    ROS2SystemCameraComponent::CreateDescriptor(),
                    ROS2SensorComponentBase<TickBasedSource>::CreateDescriptor(),
                    ROS2SensorComponentBase<PhysicsBasedSource>::CreateDescriptor(),
                    LidarRegistrarSystemComponent::CreateDescriptor(),
                    ROS2RobotImporterSystemComponent::CreateDescriptor(),
                    ROS2ImuSensorComponent::CreateDescriptor(),
                    ROS2GNSSSensorComponent::CreateDescriptor(),
                    ROS2LidarSensorComponent::CreateDescriptor(),
                    ROS2Lidar2DSensorComponent::CreateDescriptor(),
                    ROS2OdometrySensorComponent::CreateDescriptor(),
                    ROS2WheelOdometryComponent::CreateDescriptor(),
                    ROS2FrameComponent::CreateDescriptor(),
                    ROS2RobotControlComponent::CreateDescriptor(),
                    ROS2CameraSensorComponent::CreateDescriptor(),
                    ROS2ImageEncodingConversionComponent::CreateDescriptor(),
                    AckermannControlComponent::CreateDescriptor(),
                    RigidBodyTwistControlComponent::CreateDescriptor(),
                    SkidSteeringControlComponent::CreateDescriptor(),
                    ROS2CameraSensorComponent::CreateDescriptor(),
                    VehicleDynamics::AckermannVehicleModelComponent::CreateDescriptor(),
                    VehicleDynamics::WheelControllerComponent::CreateDescriptor(),
                    VehicleDynamics::SkidSteeringModelComponent::CreateDescriptor(),
                    JointMotorControllerComponent::CreateDescriptor(),
                    ManualMotorControllerComponent::CreateDescriptor(),
                    JointsManipulationComponent::CreateDescriptor(),
                    JointsPositionsComponent::CreateDescriptor(),
                    JointsArticulationControllerComponent::CreateDescriptor(),
                    JointsPIDControllerComponent::CreateDescriptor(),
                    JointsTrajectoryComponent::CreateDescriptor(),
                    PidMotorControllerComponent::CreateDescriptor(),
                    GripperActionServerComponent::CreateDescriptor(),
                    VacuumGripperComponent::CreateDescriptor(),
                    FingerGripperComponent::CreateDescriptor(),
                    FollowingCameraComponent::CreateDescriptor(),
                    ClassSegmentationConfigurationComponent::CreateDescriptor(),
#ifdef WITH_GAZEBO_MSGS
                    ROS2SpawnerComponent::CreateDescriptor(),
                    ROS2SpawnPointComponent::CreateDescriptor(),
                    ROS2ContactSensorComponent::CreateDescriptor(),
#endif
                });
        }

        AZ::ComponentTypeList GetRequiredSystemComponents() const override
        {
            return AZ::ComponentTypeList{
                azrtti_typeid<ROS2SystemComponent>(),
                azrtti_typeid<ROS2SystemCameraComponent>(),
                azrtti_typeid<LidarRegistrarSystemComponent>(),
                azrtti_typeid<ROS2RobotImporterSystemComponent>(),
            };
        }
    };
} // namespace ROS2