o3de-extras/Templates/Ros2ProjectTemplate

ROS2 Project Template

This template allows to create a ROS2 project with sample content.

The example ROS2 navigation stack launchfile is bundled with the template.

Requirements

Due to ROS2 dependency, this project was prepared and tested on Linux operating system. It is recomended to use Ubuntu 20.04 or 22.10, however any distribution meeting following requirements may be used.

Refer to the O3DE System Requirements documentation to make sure that the system/hardware requirements are met. This project has the following dependencies:

• O3DE
• ROS2 (galactic or humble)
• ROS2 Gem
• RosRobotSample Assets
• WarehouseSample Assets

Please make sure that clang was installed and configured. For details refer to this section of O3DE documentation.

To run the navigation example, two ROS2 packages are also required:

• navigation2
• slam_toolbox

Setup Instructions

The following steps will assume the following:

• You have ROS2 humble installed and environment is sourced.
• The O3DE gems, projects and templates will be placed in the O3DE home folder: /home/${USER}/O3DE.
• You have the O3DE engine downloaded and built and it is located in /home/${USER}/O3DE/Engines/Development.

In this tutorial, CLI tools will be used. It is also possible to use O3DE gui to set up a project from template. See the O3DE Project manager documentation for more details. In such case it is required to source your ROS2 distro before launching O3DE manager:

source /opt/ros/humble/setup.bash
./build/linux/bin/profile/o3de

1. Install ROS2 packages

sudo apt install ros-${ROS_DISTRO}-ackermann-msgs ros-${ROS_DISTRO}-gazebo-msgs ros-${ROS_DISTRO}-control-toolbox

2. Download the template and asset gems

For convenienience, we'll define a shell variables with o3de folders:

export O3DE_HOME=/home/${USER}/O3DE
export O3DE_ENGINE=${O3DE_HOME}/Engines/Development

Clone the o3de-extras repository containing the template and asset gems

mkdir -p ${O3DE_HOME}/Projects
cd ${O3DE_HOME}/Projects
git clone [email protected]:o3de/o3de-extras.git

Copy gems to the O3DE home.

mkdir -p ${O3DE_HOME}/Gems
cp o3de-extras/Gems/ROS2 ${O3DE_HOME}/Gems
cp o3de-extras/Gems/WarehouseSample ${O3DE_HOME}/Gems
cp o3de-extras/Gems/RosRobotSample ${O3DE_HOME}/Gems

Register these gems.

${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_HOME}/Gems/ROS2
${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_HOME}/Gems/WarehouseSample
${O3DE_ENGINE}/scripts/o3de.sh register --gem-path ${O3DE_HOME}/Gems/RosRobotSample

3. Create a ROS2 project from the template

Assign a name for the new project. In this example, it is assumed that it will be: WarehouseTest, and it will be located in $DEMO_BASE/WarehouseTest folder.

export PROJECT_NAME=WarehouseTest
export PROJECT_PATH=${O3DE_HOME}/Projects/${PROJECT_NAME}
${O3DE_ENGINE}/scripts/o3de.sh create-project --project-path $PROJECT_PATH --template-path ${O3DE_HOME}/Projects/o3de-extras/Templates/Ros2ProjectTemplate/ -f 

Enable gems.

${O3DE_ENGINE}/scripts/o3de.sh enable-gem --gem-name ROS2 --project-path $PROJECT_PATH
${O3DE_ENGINE}/scripts/o3de.sh enable-gem --gem-name WarehouseSample --project-path $PROJECT_PATH
${O3DE_ENGINE}/scripts/o3de.sh enable-gem --gem-name RosRobotSample --project-path $PROJECT_PATH

4. Build the project

Next, let us the build project with the necessary elements of the O3DE engine and ROS2 Gem.

cd $PROJECT_PATH
source /opt/ros/humble/setup.bash
cmake -B build/linux -G "Ninja Multi-Config" -DLY_UNITY_BUILD=OFF -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_PARALLEL_LINK_JOBS=16 -DLY_STRIP_DEBUG_SYMBOLS=OFF
cmake --build build/linux --config profile --target $PROJECT_NAME.GameLauncher Editor

5. Launch Editor

Finally, previously built O3DE with preloaded ROS2 Gem can be run:

$PROJECT_PATH/build/linux/bin/profile/Editor

Running ROS example

Refer to $PROJECT_PATH/Examples/slam_navigation/README.md for instructions.