Simulation Interfaces to Development

Gems/ROS2/Code/CMakeLists.txt

@@ -42,6 +42,25 @@ add_custom_target(
     COMMAND ${CMAKE_COMMAND} -DROS_DISTRO=${ROS_DISTRO} -P ${CMAKE_CURRENT_SOURCE_DIR}/checkROS2Distribution.cmake
 )
 
+# Gazebo messages are optional, so we will only add the dependents if the package is found.
+# The gazebo_msgs package is EOL and will not be available in ROS 2 Kilted Kaiju.
+# If you need to use ContactSensor and/or ROS2 Spawner, please consider building gazebo_msgs from the source.
+find_package(gazebo_msgs QUIET)
+if (gazebo_msgs_FOUND)
+    message(STATUS "Found gazebo_msgs package, enabling legacy features like ContactSensor Component and ROS2 Spawner Component")
+    SET (WITH_GAZEBO_MSGS TRUE)
+    if(NOT (ROS_DISTRO STREQUAL "humble" OR ROS_DISTRO STREQUAL "jazzy"))
+        message(WARNING
+                "The support for deprecated gazebo_msgs package is not supported in ROS 2 Kilted or newer. "
+                "Please consider migration to Simulation Interfaces. "
+                "If you do not intend to use Gazebo messages, please make sure that this package is not sourced in your environment." )
+
+    endif()
+else()
+    message(STATUS "Could not find gazebo_msgs package, disabling legacy features like ContactSensor Component and ROS2 Spawner Component")
+    SET(WITH_GAZEBO_MSGS FALSE)
+endif()
+
 # Add the ROS2.Static target
 # Note: We include the common files and the platform specific files which are set in ros2_common_files.cmake
 # and in ${pal_dir}/ros2_${PAL_PLATFORM_NAME_LOWERCASE}_files.cmake
@@ -71,7 +90,12 @@ ly_add_target(
             Gem::LevelGeoreferencing.API
 )
 
-target_depends_on_ros2_packages(${gem_name}.Static rclcpp builtin_interfaces std_msgs sensor_msgs nav_msgs tf2_ros ackermann_msgs gazebo_msgs vision_msgs control_msgs)
+target_depends_on_ros2_packages(${gem_name}.Static rclcpp builtin_interfaces std_msgs sensor_msgs nav_msgs tf2_ros ackermann_msgs vision_msgs control_msgs)
+
+if (WITH_GAZEBO_MSGS)
+    target_depends_on_ros2_package(${gem_name}.Static gazebo_msgs REQUIRED)
+    target_compile_definitions(${gem_name}.Static PUBLIC "WITH_GAZEBO_MSGS")
+endif()
 
 ly_add_target(
     NAME ${gem_name}.API HEADERONLY

Gems/ROS2/Code/Include/ROS2/Clock/ITimeSource.h

@@ -8,6 +8,8 @@
 #pragma once
 
 #include <builtin_interfaces/msg/time.hpp>
+#include <AzCore/Outcome/Outcome.h>
+#include <AzCore/std/string/string.h>
 
 namespace ROS2
 {
@@ -19,6 +21,11 @@ namespace ROS2
 
         virtual ~ITimeSource() = default;
 
+        //! Sets the time source to the given time.
+        //! @param time The time to set the time source to.
+        //! @return An outcome indicating success or failure.
+        virtual AZ::Outcome<void, AZStd::string> AdjustTime(const builtin_interfaces::msg::Time & time) = 0;
+
         //! Get time as ROS 2 message.
         //! @see ROS2Requests::GetROSTimestamp() for more details.
         virtual builtin_interfaces::msg::Time GetROSTimestamp() const = 0;

Gems/ROS2/Code/Include/ROS2/Clock/ROS2Clock.h

@@ -8,8 +8,10 @@
 #pragma once
 
 #include "ITimeSource.h"
+#include <AzCore/Outcome/Outcome.h>
 #include <AzCore/std/chrono/chrono.h>
 #include <AzCore/std/smart_ptr/unique_ptr.h>
+#include <AzCore/std/string/string.h>
 #include <rclcpp/publisher.hpp>
 #include <rosgraph_msgs/msg/clock.hpp>
 
@@ -21,7 +23,6 @@ namespace ROS2
     //! the /use_sim_time parameter set to true.
     class ROS2Clock
     {
-
     public:
         ROS2Clock();
         ROS2Clock(AZStd::unique_ptr<ITimeSource> timeSource, bool publishClock);
@@ -32,6 +33,11 @@ namespace ROS2
 
         builtin_interfaces::msg::Time GetROSTimestamp() const;
 
+        //! Sets the time source to the given time.
+        //! @param time The time to set the time source to.
+        //! @return An outcome indicating success or failure.
+        AZ::Outcome<void, AZStd::string> AdjustTime(const builtin_interfaces::msg::Time& time) const;
+
         //! Update time in the ROS 2 ecosystem.
         //! This will publish current time to the ROS 2 `/clock` topic, if Clock is configured to do it.
         void Tick();

Gems/ROS2/Code/Include/ROS2/Clock/ROS2TimeSource.h

@@ -25,6 +25,12 @@ namespace ROS2
         //! Get ROS 2 time as ROS2 message.
         //! @see ROS2Requests::GetROSTimestamp() for more details.
         virtual builtin_interfaces::msg::Time GetROSTimestamp() const override;
+
+        //! Sets the time source to the given time.
+        //! @param time The time to set the time source to.
+        //! @return An outcome indicating success or failure.
+        virtual AZ::Outcome<void, AZStd::string> AdjustTime(const builtin_interfaces::msg::Time& time) override;
+
     };
 
 } // namespace ROS2

Gems/ROS2/Code/Include/ROS2/Clock/RealTimeSource.h

@@ -25,6 +25,9 @@ namespace ROS2
         virtual void Activate() override {};
         virtual void Deactivate() override {};
 
+
+        virtual AZ::Outcome<void, AZStd::string> AdjustTime(const builtin_interfaces::msg::Time& time) override;
+
         //! Get simulation time as ROS 2 message.
         //! @see ROS2Requests::GetROSTimestamp() for more details.
         virtual builtin_interfaces::msg::Time GetROSTimestamp() const override;

Gems/ROS2/Code/Include/ROS2/Clock/SimulationTimeSource.h

@@ -30,6 +30,11 @@ namespace ROS2
         virtual void Activate() override;
         virtual void Deactivate() override;
 
+        //! Sets the time source to the given time.
+        //! @param time The time to set the time source to.
+        //! @return An outcome indicating success or failure.
+        virtual AZ::Outcome<void, AZStd::string> AdjustTime(const builtin_interfaces::msg::Time& time) override;
+
         //! Get ROS 2 time as ROS2 message.
         //! @see ROS2Requests::GetROSTimestamp() for more details.
         virtual builtin_interfaces::msg::Time GetROSTimestamp() const override;

Gems/ROS2/Code/Source/Camera/ROS2CameraSystemComponent.cpp

@@ -41,7 +41,11 @@ namespace ROS2
    void ROS2SystemCameraComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required)
    {
        required.push_back(AZ_CRC_CE("ROS2Service"));
-       required.push_back(AZ_CRC_CE("RPISystem"));
+   }
+
+   void ROS2SystemCameraComponent::GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent)
+   {
+       dependent.push_back(AZ_CRC_CE("RPISystem"));
    }
 
    void ROS2SystemCameraComponent::InitPassTemplateMappingsHandler()

Gems/ROS2/Code/Source/Camera/ROS2CameraSystemComponent.h

@@ -24,6 +24,7 @@ namespace ROS2
        static void GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided);
        static void GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible);
        static void GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required);
+       static void GetDependentServices(AZ::ComponentDescriptor::DependencyArrayType& dependent);
 
        void InitPassTemplateMappingsHandler();
 

Gems/ROS2/Code/Source/Clock/ROS2Clock.cpp

@@ -58,4 +58,9 @@ namespace ROS2
         msg.clock = GetROSTimestamp();
         m_clockPublisher->publish(msg);
     }
+
+    AZ::Outcome<void, AZStd::string> ROS2Clock::AdjustTime(const builtin_interfaces::msg::Time & time) const
+    {
+        return m_timeSource->AdjustTime(time);
+    }
 } // namespace ROS2

Gems/ROS2/Code/Source/Clock/ROS2TimeSource.cpp

@@ -17,4 +17,10 @@ namespace ROS2
         builtin_interfaces::msg::Time timeStamp = ros2Node->get_clock()->now();
         return timeStamp;
     }
+
+    AZ::Outcome<void, AZStd::string> ROS2TimeSource::AdjustTime(const builtin_interfaces::msg::Time& time)
+    {
+        return AZ::Failure(AZStd::string("ROS2TimeSource does not support setting a specific time."));
+    }
+
 } // namespace ROS2

Gems/ROS2/Code/Source/Clock/RealTimeSource.cpp

@@ -33,4 +33,9 @@ namespace ROS2
             return 0;
         }
     }
+
+    AZ::Outcome<void, AZStd::string> RealTimeSource::AdjustTime(const builtin_interfaces::msg::Time& time)
+    {
+        return AZ::Failure(AZStd::string("RealTimeSource does not support setting a specific time."));
+    }
 } // namespace ROS2

Gems/ROS2/Code/Source/Clock/SimulationTimeSource.cpp

@@ -83,4 +83,11 @@ namespace ROS2
         timeStamp.nanosec = static_cast<uint32_t>((m_elapsed - timeStamp.sec) * 1e9);
         return timeStamp;
     }
+
+    AZ::Outcome<void, AZStd::string> SimulationTimeSource::AdjustTime(const builtin_interfaces::msg::Time& time)
+    {
+        const double timeSec = static_cast<double>(time.sec) + static_cast<double>(time.nanosec) * 1e-9;
+        m_elapsed = timeSec;
+        return AZ::Success();
+    }
 } // namespace ROS2

Gems/ROS2/Code/Source/ROS2EditorModule.cpp

@@ -17,10 +17,11 @@
 #include <ROS2ModuleInterface.h>
 #include <RobotImporter/ROS2RobotImporterEditorSystemComponent.h>
 #include <SdfAssetBuilder/SdfAssetBuilderSystemComponent.h>
+#include <SystemComponents/ROS2EditorSystemComponent.h>
+#ifdef WITH_GAZEBO_MSGS
 #include <Spawner/ROS2SpawnPointEditorComponent.h>
 #include <Spawner/ROS2SpawnerEditorComponent.h>
-#include <SystemComponents/ROS2EditorSystemComponent.h>
-
+#endif
 void InitROS2Resources()
 {
     // Registration of Qt (ROS2.qrc) resources
@@ -46,8 +47,10 @@ namespace ROS2
                   LidarRegistrarEditorSystemComponent::CreateDescriptor(),
                   ROS2RobotImporterEditorSystemComponent::CreateDescriptor(),
                   ROS2CameraSensorEditorComponent::CreateDescriptor(),
+#ifdef WITH_GAZEBO_MSGS
                   ROS2SpawnerEditorComponent::CreateDescriptor(),
                   ROS2SpawnPointEditorComponent::CreateDescriptor(),
+#endif
                   SdfAssetBuilderSystemComponent::CreateDescriptor(),
                   JointsManipulationEditorComponent::CreateDescriptor(),
                   JointsPositionsEditorComponent::CreateDescriptor(),

Gems/ROS2/Code/Source/ROS2ModuleInterface.h

@@ -12,7 +12,6 @@
 #include <Camera/PostProcessing/ROS2ImageEncodingConversionComponent.h>
 #include <Camera/ROS2CameraSensorComponent.h>
 #include <Camera/ROS2CameraSystemComponent.h>
-#include <ContactSensor/ROS2ContactSensorComponent.h>
 #include <GNSS/ROS2GNSSSensorComponent.h>
 #include <Gripper/FingerGripperComponent.h>
 #include <Gripper/GripperActionServerComponent.h>
@@ -39,14 +38,16 @@
 #include <RobotControl/ROS2RobotControlComponent.h>
 #include <RobotImporter/ROS2RobotImporterSystemComponent.h>
 #include <SimulationUtils/FollowingCameraComponent.h>
-#include <Spawner/ROS2SpawnPointComponent.h>
-#include <Spawner/ROS2SpawnerComponent.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
@@ -74,14 +75,11 @@ namespace ROS2
                     ROS2WheelOdometryComponent::CreateDescriptor(),
                     ROS2FrameComponent::CreateDescriptor(),
                     ROS2RobotControlComponent::CreateDescriptor(),
-                    ROS2CameraSensorComponent::CreateDescriptor(),
                     ROS2ImageEncodingConversionComponent::CreateDescriptor(),
                     AckermannControlComponent::CreateDescriptor(),
                     RigidBodyTwistControlComponent::CreateDescriptor(),
                     SkidSteeringControlComponent::CreateDescriptor(),
                     ROS2CameraSensorComponent::CreateDescriptor(),
-                    ROS2SpawnerComponent::CreateDescriptor(),
-                    ROS2SpawnPointComponent::CreateDescriptor(),
                     VehicleDynamics::AckermannVehicleModelComponent::CreateDescriptor(),
                     VehicleDynamics::WheelControllerComponent::CreateDescriptor(),
                     VehicleDynamics::SkidSteeringModelComponent::CreateDescriptor(),
@@ -96,9 +94,13 @@ namespace ROS2
                     GripperActionServerComponent::CreateDescriptor(),
                     VacuumGripperComponent::CreateDescriptor(),
                     FingerGripperComponent::CreateDescriptor(),
-                    ROS2ContactSensorComponent::CreateDescriptor(),
                     FollowingCameraComponent::CreateDescriptor(),
                     ClassSegmentationConfigurationComponent::CreateDescriptor(),
+#ifdef WITH_GAZEBO_MSGS
+                    ROS2SpawnerComponent::CreateDescriptor(),
+                    ROS2SpawnPointComponent::CreateDescriptor(),
+                    ROS2ContactSensorComponent::CreateDescriptor(),
+#endif
                 });
         }
 

Gems/ROS2/Code/Source/SystemComponents/ROS2SystemComponent.cpp

@@ -81,7 +81,6 @@ namespace ROS2
     void ROS2SystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required)
     {
         required.push_back(AZ_CRC("AssetDatabaseService", 0x3abf5601));
-        required.push_back(AZ_CRC("RPISystem", 0xf2add773));
     }
 
     void ROS2SystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent)

Gems/ROS2/Code/ros2_editor_files.cmake

@@ -84,10 +84,6 @@ set(FILES
     Source/RobotImporter/Utils/TypeConversions.cpp
     Source/RobotImporter/Utils/TypeConversions.h
     Source/ROS2GemUtilities.cpp
-    Source/Spawner/ROS2SpawnerEditorComponent.cpp
-    Source/Spawner/ROS2SpawnerEditorComponent.h
-    Source/Spawner/ROS2SpawnPointEditorComponent.cpp
-    Source/Spawner/ROS2SpawnPointEditorComponent.h
     Source/SdfAssetBuilder/SdfAssetBuilder.cpp
     Source/SdfAssetBuilder/SdfAssetBuilder.h
     Source/SdfAssetBuilder/SdfAssetBuilderSettings.cpp
@@ -101,3 +97,14 @@ set(FILES
     Source/SystemComponents/ROS2EditorSystemComponent.cpp
     Source/SystemComponents/ROS2EditorSystemComponent.h
 )
+
+# optional, legacy features compilation
+if (WITH_GAZEBO_MSGS)
+    list(APPEND FILES
+        Source/Spawner/ROS2SpawnerEditorComponent.cpp
+        Source/Spawner/ROS2SpawnerEditorComponent.h
+        Source/Spawner/ROS2SpawnPointEditorComponent.cpp
+        Source/Spawner/ROS2SpawnPointEditorComponent.h
+    )
+endif ()
+

Gems/ROS2/Code/ros2_files.cmake

@@ -33,8 +33,6 @@ set(FILES
         Source/Communication/QoS.cpp
         Source/Communication/PublisherConfiguration.cpp
         Source/Communication/TopicConfiguration.cpp
-        Source/ContactSensor/ROS2ContactSensorComponent.cpp
-        Source/ContactSensor/ROS2ContactSensorComponent.h
         Source/Frame/NamespaceConfiguration.cpp
         Source/Frame/ROS2FrameComponent.cpp
         Source/Frame/ROS2FrameConfiguration.cpp
@@ -130,14 +128,6 @@ set(FILES
         Source/SimulationUtils/FollowingCameraConfiguration.h
         Source/SimulationUtils/FollowingCameraComponent.cpp
         Source/SimulationUtils/FollowingCameraComponent.h
-        Source/Spawner/ROS2SpawnerComponent.cpp
-        Source/Spawner/ROS2SpawnerComponent.h
-        Source/Spawner/ROS2SpawnPointComponent.cpp
-        Source/Spawner/ROS2SpawnPointComponent.h
-        Source/Spawner/ROS2SpawnerComponentController.cpp
-        Source/Spawner/ROS2SpawnerComponentController.h
-        Source/Spawner/ROS2SpawnPointComponentController.cpp
-        Source/Spawner/ROS2SpawnPointComponentController.h
         Source/SystemComponents/ROS2SystemComponent.cpp
         Source/SystemComponents/ROS2SystemComponent.h
         Source/Utilities/ArticulationsUtilities.cpp
@@ -178,3 +168,19 @@ set(FILES
         Source/VehicleDynamics/WheelControllerComponent.h
         Source/VehicleDynamics/WheelDynamicsData.h
         )
+
+# optional, legacy features compilation
+if (WITH_GAZEBO_MSGS)
+        list(APPEND FILES
+                Source/ContactSensor/ROS2ContactSensorComponent.cpp
+                Source/ContactSensor/ROS2ContactSensorComponent.h
+                Source/Spawner/ROS2SpawnerComponent.cpp
+                Source/Spawner/ROS2SpawnerComponent.h
+                Source/Spawner/ROS2SpawnPointComponent.cpp
+                Source/Spawner/ROS2SpawnPointComponent.h
+                Source/Spawner/ROS2SpawnerComponentController.cpp
+                Source/Spawner/ROS2SpawnerComponentController.h
+                Source/Spawner/ROS2SpawnPointComponentController.cpp
+                Source/Spawner/ROS2SpawnPointComponentController.h
+        )
+endif ()

Gems/ROS2/Code/ros2_target_depends.cmake

@@ -6,12 +6,16 @@
 function(target_depends_on_ros2_package TARGET_NAME)
     list(GET ARGN 0 _package)
     find_package(${ARGN})
-    include(${${_package}_DIR}/${_package}Config.cmake OPTIONAL)
-    if (${${_package}_FOUND_AMENT_PACKAGE})
-        message(DEBUG "Package ${_package} was found (${${_package}_DIR}) version ${${_package}_VERSION} targets : ${${_package}_TARGETS}")
-        target_link_libraries(${TARGET_NAME} PUBLIC ${${_package}_TARGETS})
+    if (${${_package}_FOUND})
+        include(${${_package}_DIR}/${_package}Config.cmake OPTIONAL)
+        if (${${_package}_FOUND_AMENT_PACKAGE})
+            message(DEBUG "Package ${_package} was found (${${_package}_DIR}) version ${${_package}_VERSION} targets : ${${_package}_TARGETS}")
+            target_link_libraries(${TARGET_NAME} PUBLIC ${${_package}_TARGETS})
+        else ()
+            message(FATAL_ERROR "Package ${_package} was found (${${_package}_DIR}), but package is not an Ament package.")
+        endif ()
     else ()
-        message(FATAL_ERROR "Package ${_package} was found (${${_package}_DIR}), but package is not an Ament package.")
+        message(DEBUG "Package ${_package} was not found.")
     endif ()
 endfunction()