Cherry-picks development -> stabilization

Gems/OpenXRVk/Code/Source/OpenXRVkSwapChain.cpp

@@ -187,7 +187,12 @@ namespace OpenXRVk
                     swapchainCreateInfo.mipCount = m_mipCount;
                     swapchainCreateInfo.faceCount = m_faceCount;
                     swapchainCreateInfo.sampleCount = m_sampleCount;
-                    swapchainCreateInfo.usageFlags = XR_SWAPCHAIN_USAGE_SAMPLED_BIT | XR_SWAPCHAIN_USAGE_COLOR_ATTACHMENT_BIT;
+                    swapchainCreateInfo.usageFlags = XR_SWAPCHAIN_USAGE_SAMPLED_BIT |
+                                                     XR_SWAPCHAIN_USAGE_COLOR_ATTACHMENT_BIT |
+                                                     XR_SWAPCHAIN_USAGE_TRANSFER_SRC_BIT |
+                                                     XR_SWAPCHAIN_USAGE_TRANSFER_DST_BIT |
+                                                     XR_SWAPCHAIN_USAGE_INPUT_ATTACHMENT_BIT_KHR
+                                                     ;
 
                     XrSwapchain handle = XR_NULL_HANDLE;
                     result = xrCreateSwapchain(xrSession, &swapchainCreateInfo, &handle);

Gems/ProteusRobot/Assets/Proteus.prefab

@@ -369,7 +369,7 @@
                                     "guid": "{8A2E7A82-D7C3-5E9C-A56C-6EDA70876347}",
                                     "subId": 268721130
                                 },
-                                "assetHint": "materialeditor/viewportmodels/cylinder.azmodel"
+                                "assetHint": "materialeditor/viewportmodels/cylinder.fbx.azmodel"
                             }
                         }
                     }
@@ -728,12 +728,12 @@
                 },
                 "Component_[639102350977932618]": {
                     "$type": "ROS2FrameEditorComponent",
+                    "Id": 1381491360893018223,
                     "ROS2FrameConfiguration": {
                         "Namespace Configuration": {
                             "Namespace": "base_link"
                         },
-                        "Frame Name": "base_link",
-                        "Effective namespace": "base_link"
+                        "Frame Name": "base_link"
                     }
                 },
                 "Component_[6563269519356188309]": {
@@ -1400,7 +1400,7 @@
                                     "guid": "{42648578-F5A3-52BC-89BF-0D5FC8608250}",
                                     "subId": 276024436
                                 },
-                                "assetHint": "proteus2_lift.azmodel"
+                                "assetHint": "proteus2_lift.fbx.azmodel"
                             }
                         }
                     }
@@ -1759,7 +1759,7 @@
                                     "guid": "{F9B95287-0FA8-5624-92A1-217B33F08280}",
                                     "subId": 277942675
                                 },
-                                "assetHint": "proteus_wheel.azmodel"
+                                "assetHint": "proteus_wheel.fbx.azmodel"
                             }
                         }
                     }
@@ -1875,7 +1875,7 @@
                                     "guid": "{F9B95287-0FA8-5624-92A1-217B33F08280}",
                                     "subId": 277942675
                                 },
-                                "assetHint": "proteus_wheel.azmodel"
+                                "assetHint": "proteus_wheel.fbx.azmodel"
                             }
                         }
                     }
@@ -2036,7 +2036,7 @@
                                     "guid": "{60318C54-1D60-53EC-85AA-2CADBFD83ED9}",
                                     "subId": 278773777
                                 },
-                                "assetHint": "proteus2_chassis.azmodel"
+                                "assetHint": "proteus2_chassis.fbx.azmodel"
                             }
                         }
                     }

Gems/ProteusRobot/gem.json

@@ -32,3 +32,4 @@
     "restricted": "ProteusRobot",
     "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/proteusrobot-2.0.0-gem.zip"
 }
+

Gems/ROS2/Assets/Prefabs/Sensors/CameraOrbbeck.prefab

@@ -77,7 +77,7 @@
                         "MaterialSlots": {
                             "Slots": [
                                 {
-                                    "Name": "Entire object"
+                                    "Name": "DefaultMaterial"
                                 }
                             ]
                         }
@@ -89,7 +89,7 @@
                                     "guid": "{0E27CF27-5752-5557-B77A-4B29A5870E0E}",
                                     "subId": 3865077323
                                 },
-                                "assetHint": "models/sensors/camera/cameraorbbeck.pxmesh"
+                                "assetHint": "models/sensors/camera/cameraorbbeck.fbx.pxmesh"
                             },
                             "Configuration": {
                                 "PhysicsAsset": {
@@ -98,7 +98,7 @@
                                         "subId": 3865077323
                                     },
                                     "loadBehavior": "QueueLoad",
-                                    "assetHint": "models/sensors/camera/cameraorbbeck.pxmesh"
+                                    "assetHint": "models/sensors/camera/cameraorbbeck.fbx.pxmesh"
                                 }
                             }
                         }

Gems/ROS2/Assets/Prefabs/Sensors/LidarOS2.prefab

@@ -174,7 +174,7 @@
                                     "guid": "{99D850A3-8E59-5E78-93FE-AE8DB228684D}",
                                     "subId": 2574200790
                                 },
-                                "assetHint": "models/sensors/lidaros2/lidaros2.pxmesh"
+                                "assetHint": "models/sensors/lidaros2/lidaros2.fbx.pxmesh"
                             },
                             "Configuration": {
                                 "PhysicsAsset": {
@@ -183,7 +183,7 @@
                                         "subId": 2574200790
                                     },
                                     "loadBehavior": "QueueLoad",
-                                    "assetHint": "models/sensors/lidaros2/lidaros2.pxmesh"
+                                    "assetHint": "models/sensors/lidaros2/lidaros2.fbx.pxmesh"
                                 }
                             }
                         }

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

@@ -0,0 +1,26 @@
+/*
+ * 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 <builtin_interfaces/msg/time.hpp>
+
+namespace ROS2
+{
+    class ITimeSource
+    {
+    public:
+        virtual void Activate() = 0;
+        virtual void Deactivate() = 0;
+
+        virtual ~ITimeSource() = default;
+
+        //! Get time as ROS 2 message.
+        //! @see ROS2Requests::GetROSTimestamp() for more details.
+        virtual builtin_interfaces::msg::Time GetROSTimestamp() const = 0;
+    };
+} // namespace ROS2

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

@@ -0,0 +1,45 @@
+/*
+ * 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 "ITimeSource.h"
+#include <AzCore/std/chrono/chrono.h>
+#include <AzCore/std/smart_ptr/unique_ptr.h>
+#include <rclcpp/publisher.hpp>
+#include <rosgraph_msgs/msg/clock.hpp>
+
+namespace ROS2
+{
+    //! The ROS2Clock provides ROS timestamps as builtin_interface::msg::Time messages.
+    //! The clock can use different types of the time sources and publish the current
+    //! time to the ROS 2 `/clock/` topic. The published time can be used with
+    //! the /use_sim_time parameter set to true.
+    class ROS2Clock
+    {
+        static constexpr size_t FramesNumberForStats = 60;
+
+    public:
+        ROS2Clock();
+        ROS2Clock(AZStd::unique_ptr<ITimeSource> timeSource, bool publishClock);
+        ~ROS2Clock() = default;
+
+        void Activate();
+        void Deactivate();
+
+        builtin_interfaces::msg::Time GetROSTimestamp() 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();
+
+    private:
+        rclcpp::Publisher<rosgraph_msgs::msg::Clock>::SharedPtr m_clockPublisher;
+        AZStd::unique_ptr<ITimeSource> m_timeSource;
+        bool m_publishClock;
+    };
+} // namespace ROS2

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

@@ -0,0 +1,30 @@
+/*
+ * 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 "ITimeSource.h"
+
+namespace ROS2
+{
+    //! The ROS2TimeSource provides the time taken from the ROS 2. By default
+    //! this is system_time but it can be configured to provide the time from the other sources.
+    class ROS2TimeSource : public ITimeSource
+    {
+    public:
+        virtual ~ROS2TimeSource() = default;
+
+        // ITimeSource overrides ...
+        virtual void Activate() override {};
+        virtual void Deactivate() override {};
+
+        //! Get ROS 2 time as ROS2 message.
+        //! @see ROS2Requests::GetROSTimestamp() for more details.
+        virtual builtin_interfaces::msg::Time GetROSTimestamp() const override;
+    };
+
+} // namespace ROS2

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

@@ -0,0 +1,36 @@
+/*
+ * 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 "ITimeSource.h"
+
+namespace ROS2
+{
+    //! The RealTimeSource starts from 0 at the start of the simulation.
+    //! This time source could be affected by the jitter in the data, simulation
+    //! computations or other similar events. On the other hand RealTimeSource
+    //! can remain consistent with the other independent clocks if it is synchronised
+    //! (e.g. through NTP).
+    class RealTimeSource : public ITimeSource
+    {
+    public:
+        virtual ~RealTimeSource() = default;
+
+        // ITimeSource overrides ...
+        virtual void Activate() override {};
+        virtual void Deactivate() override {};
+
+        //! Get simulation time as ROS 2 message.
+        //! @see ROS2Requests::GetROSTimestamp() for more details.
+        virtual builtin_interfaces::msg::Time GetROSTimestamp() const override;
+
+    private:
+        //! Get the time since start of sim, scaled with t_simulationTickScale
+        int64_t GetElapsedTimeMicroseconds() const;
+    };
+} // namespace ROS2

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

@@ -0,0 +1,43 @@
+/*
+ * 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 "ITimeSource.h"
+#include <AzFramework/Physics/Common/PhysicsEvents.h>
+#include <AzFramework/Physics/PhysicsSystem.h>
+
+namespace ROS2
+{
+    //! The SimulationTimeSource provides timestamps calculated using updates from the physics engine.
+    //! Simulation paces the clock with stable steps, and as a result, this time source eliminates data jitter.
+    //! The simulated time can be faster or slower than the real-time, according to the configuration of the physics engine.
+    //! SimulationTimeSource is used as the default time source for the projects.
+    //! The simulated clock is incremented with delta times that were simulated by physics.
+    //! The time source registers and observes AZ::PhysicsScene and when the
+    //! simulation starts, it attaches and starts counting the updates.
+    //! It is recommended to use it with high-frequency sensors such as odometry and IMUs.
+    class SimulationTimeSource : public ITimeSource
+    {
+    public:
+        virtual ~SimulationTimeSource() = default;
+
+        // ITimeSource overrides ...
+        virtual void Activate() override;
+        virtual void Deactivate() override;
+
+        //! Get ROS 2 time as ROS2 message.
+        //! @see ROS2Requests::GetROSTimestamp() for more details.
+        virtual builtin_interfaces::msg::Time GetROSTimestamp() const override;
+
+    private:
+        double m_elapsed = 0;
+        AzPhysics::SceneEvents::OnSceneSimulationFinishHandler m_onSceneSimulationEvent;
+        AzPhysics::SystemEvents::OnSceneAddedEvent::Handler m_onSceneAdded;
+        AzPhysics::SystemEvents::OnSceneRemovedEvent::Handler m_onSceneRemoved;
+    };
+} // namespace ROS2