Cherry-picks stabilization -> development

Gems/OpenXRVk/gem.json

@@ -15,6 +15,6 @@
     "documentation_url": "",
     "dependencies": [],
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/openxrvk-1.0.0-gem.zip",
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/openxrvk-1.0.1-gem.zip",
     "version": "1.0.1"
 }

Gems/ROS2/Code/Include/ROS2/Frame/NamespaceConfiguration.h

@@ -58,9 +58,14 @@ namespace ROS2
         //! @param parentNamespace parent namespace.
         void SetParentNamespace(const AZStd::string& parentNamespace);
 
+        //! Initializes the namespace configuration.
+        //! This function should be called in the Init functions of frame components.
+        void Init();
+
     private:
-        AZStd::string m_namespace;
-        AZStd::string m_parentNamespace;
+        AZStd::string m_customNamespace = ""; //!< Custom namespace that can be set by the user
+        AZStd::string m_namespace = ""; //!< Current namespace (might be custom); set automatically
+        AZStd::string m_parentNamespace = ""; //!< Parent namespace (might be custom); set automatically
         NamespaceStrategy m_namespaceStrategy = NamespaceStrategy::Default;
         bool m_isRoot;
         AZStd::string m_entityName;

Gems/ROS2/Code/Include/ROS2/Frame/ROS2FrameComponent.h

@@ -52,6 +52,7 @@ namespace ROS2
 
         //////////////////////////////////////////////////////////////////////////
         // Component overrides
+        void Init() override;
         void Activate() override;
         void Deactivate() override;
         //////////////////////////////////////////////////////////////////////////

Gems/ROS2/Code/Include/ROS2/Frame/ROS2FrameEditorComponent.h

@@ -40,6 +40,7 @@ namespace ROS2
         ROS2FrameEditorComponent(const ROS2FrameConfiguration ros2FrameConfiguration);
 
         // AzToolsFramework::Components::EditorComponentBase overrides
+        void Init() override;
         void Activate() override;
         void Deactivate() override;
         void BuildGameEntity(AZ::Entity* gameEntity) override;

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

@@ -123,6 +123,7 @@ namespace ROS2
             m_entityId.ToString().c_str());
         AZ::RPI::RenderPipelineDescriptor pipelineDesc;
         pipelineDesc.m_mainViewTagName = "MainCamera";
+        pipelineDesc.m_allowModification = true;
         pipelineDesc.m_name = m_pipelineName;
 
         pipelineDesc.m_rootPassTemplate = GetPipelineTemplateName();

Gems/ROS2/Code/Source/Frame/NamespaceConfiguration.cpp

@@ -34,7 +34,7 @@ namespace ROS2
             m_namespace = ROS2Names::RosifyName(m_entityName);
             break;
         case NamespaceStrategy::Custom:
-            // Leave the namespace as is
+            m_namespace = m_customNamespace;
             break;
         default:
             AZ_Assert(false, "Unhandled namespace strategy");
@@ -96,14 +96,20 @@ namespace ROS2
         return m_namespaceStrategy == NamespaceConfiguration::NamespaceStrategy::Custom;
     }
 
+    void NamespaceConfiguration::Init()
+    {
+        // Make sure that the namespace is up to date.
+        OnNamespaceStrategySelected();
+    }
+
     void NamespaceConfiguration::Reflect(AZ::ReflectContext* context)
     {
         if (auto serializeContext = azrtti_cast<AZ::SerializeContext*>(context))
         {
             serializeContext->Class<NamespaceConfiguration>()
                 ->Version(1)
                 ->Field("Namespace Strategy", &NamespaceConfiguration::m_namespaceStrategy)
-                ->Field("Namespace", &NamespaceConfiguration::m_namespace);
+                ->Field("Namespace", &NamespaceConfiguration::m_customNamespace);
 
             if (AZ::EditContext* ec = serializeContext->GetEditContext())
             {
@@ -117,9 +123,10 @@ namespace ROS2
                     ->EnumAttribute(NamespaceConfiguration::NamespaceStrategy::Empty, "Empty")
                     ->EnumAttribute(NamespaceConfiguration::NamespaceStrategy::FromEntityName, "Generate from entity name")
                     ->EnumAttribute(NamespaceConfiguration::NamespaceStrategy::Custom, "Custom")
-                    ->DataElement(AZ::Edit::UIHandlers::Default, &NamespaceConfiguration::m_namespace, "Namespace", "Namespace")
+                    ->DataElement(AZ::Edit::UIHandlers::Default, &NamespaceConfiguration::m_customNamespace, "Namespace", "Namespace")
                     ->Attribute(AZ::Edit::Attributes::Visibility, &NamespaceConfiguration::IsNamespaceCustom)
-                    ->Attribute(AZ::Edit::Attributes::ChangeValidate, &ROS2Names::ValidateNamespaceField);
+                    ->Attribute(AZ::Edit::Attributes::ChangeValidate, &ROS2Names::ValidateNamespaceField)
+                    ->Attribute(AZ::Edit::Attributes::ChangeNotify, &NamespaceConfiguration::UpdateNamespace);
             }
         }
     }

Gems/ROS2/Code/Source/Frame/ROS2FrameComponent.cpp

@@ -139,6 +139,11 @@ namespace ROS2
 
     AZ_CLASS_ALLOCATOR_IMPL(JsonFrameComponentConfigSerializer, AZ::SystemAllocator);
 
+    void ROS2FrameComponent::Init()
+    {
+        m_namespaceConfiguration.Init();
+    }
+
     void ROS2FrameComponent::Activate()
     {
         m_namespaceConfiguration.PopulateNamespace(IsTopLevel(), GetEntity()->GetName());

Gems/ROS2/Code/Source/Frame/ROS2FrameEditorComponent.cpp

@@ -30,6 +30,11 @@ namespace ROS2
         m_configuration = ros2FrameConfiguration;
     }
 
+    void ROS2FrameEditorComponent::Init()
+    {
+        m_configuration.m_namespaceConfiguration.Init();
+    }
+
     void ROS2FrameEditorComponent::Activate()
     {
         ROS2FrameComponentBus::Handler::BusConnect(GetEntityId());

Gems/ROS2/Code/Source/RobotImporter/SDFormat/ROS2SDFormatHooksUtils.cpp

@@ -10,12 +10,13 @@
 #include <AzToolsFramework/ToolsComponents/TransformComponent.h>
 #include <ROS2/Communication/TopicConfiguration.h>
 #include <ROS2/Frame/ROS2FrameEditorComponent.h>
+#include <ROS2/Utilities/ROS2Names.h>
 #include <RobotImporter/Utils/RobotImporterUtils.h>
 #include <RobotImporter/Utils/TypeConversions.h>
 #include <SdfAssetBuilder/SdfAssetBuilderSettings.h>
 #include <VehicleDynamics/WheelControllerComponent.h>
-#include <ROS2/Utilities/ROS2Names.h>
 
+#include <sdf/Element.hh>
 #include <sdf/Joint.hh>
 
 namespace ROS2::SDFormat
@@ -106,16 +107,19 @@ namespace ROS2::SDFormat
         // Inserts name (key) and value (val) of given parameter to map.
         void ParseRegularContent(const sdf::Element& content, HooksUtils::PluginParams& remappings)
         {
-            std::string contentName = content.GetName();
-            std::string contentValue = content.GetValue()->GetAsString();
-            if (contentName.empty() || contentValue.empty())
+            const AZStd::string contentName = content.GetName().c_str();
+            const sdf::ParamPtr contentValuePtr = content.GetValue();
+            if (!contentValuePtr || contentName.empty())
             {
-                AZ_Warning("PluginParser", false, "Encountered empty parameter value while parsing URDF/SDF plugin.");
+                AZ_Warning("PluginParser", false, "Encountered invalid (empty) remapping while parsing URDF/SDF plugin.");
                 return;
             }
-            AZStd::string key(contentName.c_str(), contentName.size());
-            AZStd::string val(contentValue.c_str(), contentValue.size());
-            remappings[key] = val;
+
+            const AZStd::string contentValue = contentValuePtr->GetAsString().c_str();
+            if (!contentValue.empty())
+            {
+                remappings[contentName] = contentValue;
+            }
         }
 
         // Parses parameters present in ros element, inserting them to the map.
@@ -127,17 +131,25 @@ namespace ROS2::SDFormat
                 ParseRegularContent(rosContent, remappings);
                 return;
             }
-            AZStd::string contentValue = rosContent.GetValue()->GetAsString().c_str();
 
-            if (contentValue.find_last_of('=') == std::string::npos || contentValue.find_last_of(':') == std::string::npos)
+            const sdf::ParamPtr contentValuePtr = rosContent.GetValue();
+            if (!contentValuePtr)
+            {
+                AZ_Warning("PluginParser", false, "ROS 2 content in parsing URDF/SDF plugin data not available.");
+                return;
+            }
+
+            AZStd::string contentValue = contentValuePtr->GetAsString().c_str();
+
+            if (contentValue.find_last_of('=') == AZStd::string::npos || contentValue.find_last_of(':') == AZStd::string::npos)
             {
                 AZ_Warning("PluginParser", false, "Encountered invalid remapping while parsing URDF/SDF plugin.");
                 return;
             }
 
             // get new name of the topic
             int startVal = contentValue.find_last_of('=');
-            if (contentValue.find_last_of('/') != std::string::npos && contentValue.find_last_of('/') > startVal)
+            if (contentValue.find_last_of('/') != AZStd::string::npos && contentValue.find_last_of('/') > startVal)
             {
                 startVal = contentValue.find_last_of("/");
             }

Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp

@@ -8,6 +8,7 @@
 
 #include "ROS2SpawnerComponent.h"
 #include "Spawner/ROS2SpawnerComponentController.h"
+#include <AzCore/Math/Quaternion.h>
 #include <AzCore/Serialization/EditContext.h>
 #include <AzCore/Serialization/SerializeContext.h>
 #include <AzCore/std/string/conversions.h>
@@ -124,6 +125,20 @@ namespace ROS2
             return;
         }
 
+        AZ::Quaternion rotation(
+            request->initial_pose.orientation.x,
+            request->initial_pose.orientation.y,
+            request->initial_pose.orientation.z,
+            request->initial_pose.orientation.w);
+
+        if (rotation.IsZero())
+        {
+            response.success = false;
+            response.status_message = "Rotation is undefined. Action aborted.";
+            service_handle->send_response(*header, response);
+            return;
+        }
+
         AZStd::string spawnableName(request->name.c_str());
         AZStd::string spawnableNamespace(request->robot_namespace.c_str());
         AZStd::string spawnPointName(request->xml.c_str(), request->xml.size());
@@ -217,7 +232,8 @@ namespace ROS2
                                   request->initial_pose.orientation.x,
                                   request->initial_pose.orientation.y,
                                   request->initial_pose.orientation.z,
-                                  request->initial_pose.orientation.w),
+                                  request->initial_pose.orientation.w)
+                                  .GetNormalized(),
                               1.0f };
             }
         }

Gems/ROS2/Code/Source/VehicleDynamics/Utilities.cpp

@@ -131,7 +131,8 @@ namespace ROS2::VehicleDynamics::Utilities
                 if (articulation)
                 {
                     steeringData.m_steeringJoint = articulation->GetId();
-                    const bool hasFreeAxis = Utils::TryGetFreeArticulationAxis(steeringData.m_steeringEntity, steeringData.m_axis);
+                    [[maybe_unused]] const bool hasFreeAxis =
+                        Utils::TryGetFreeArticulationAxis(steeringData.m_steeringEntity, steeringData.m_axis);
 
                     AZ_Error("VehicleDynamics::Utilities", hasFreeAxis, "Articulation steering has no free axis somehow");
                 }

Gems/ROS2/gem.json

@@ -1,6 +1,6 @@
 {
     "gem_name": "ROS2",
-    "version": "3.2.0",
+    "version": "3.2.1",
     "platforms": [
         "Linux"
     ],
@@ -36,5 +36,5 @@
     ],
     "restricted": "ROS2",
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/ros2-3.2.0-gem.zip"
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0//ros2-3.2.1-gem.zip"
 }

Gems/RosRobotSample/gem.json

@@ -29,6 +29,5 @@
     ],
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
     "restricted": "",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/rosrobotsample-2.0.0-gem.zip"
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/rosrobotsample-2.0.1-gem.zip"
 }
-

Gems/XR/gem.json

@@ -15,6 +15,6 @@
     "documentation_url": "",
     "dependencies": [],
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/xr-1.0.0-gem.zip",
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/xr-1.0.1-gem.zip",
     "version": "1.0.1"
 }

Projects/OpenXRTest/project.json

@@ -1,9 +1,9 @@
 {
     "project_name": "OpenXRTest",
-    "version": "1.0.0",
+    "version": "1.0.1",
     "project_id": "{947211d5-689a-437f-8ad7-7f558edcd40a}",
     "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
-    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/openxrtest-1.0.0-project.zip",
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/openxrtest-1.0.1-project.zip",
     "origin": "https://github.com/o3de/o3de-extras",
     "license": "For terms please see the LICENSE*.TXT files at the root of this distribution.",
     "display_name": "OpenXRTest",

Templates/Multiplayer/template.json

@@ -1,5 +1,6 @@
 {
     "template_name": "Multiplayer",
+    "version": "2.0.0",
     "origin": "Open 3D Engine - o3de.org",
     "license": "https://opensource.org/licenses/MIT",
     "display_name": "Multiplayer",
@@ -1472,5 +1473,7 @@
         {
             "dir": "cmake"
         }
-    ]
+    ],
+    "repo_uri": "https://raw.githubusercontent.com/o3de/o3de-extras/development",
+    "download_source_uri": "https://github.com/o3de/o3de-extras/releases/download/2.0/multiplayer-2.0.0-template.zip"
 }

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