diff --git a/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab b/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab index 579d4c55..86d35094 100644 --- a/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab +++ b/Project/Assets/Kraken/apple_kraken_v1/apple_kraken_v1.prefab @@ -67,38 +67,11 @@ "Id": "Entity_[126292378827420]", "Name": "kraken_manipulator_link_3", "Components": { - "Component_[10002942660819099122]": { - "$type": "EditorRigidBodyComponent", - "Id": 10002942660819099122, - "Configuration": { - "entityId": "", - "Gravity Enabled": false, - "Compute Mass": false, - "Mass": 10.0, - "Compute COM": false, - "Compute inertia": false, - "Inertia tensor": [ - 0.5, - 0.0, - 0.0, - 0.0, - 0.5, - 0.0, - 0.0, - 0.0, - 0.20000000298023224 - ] - }, - "PhysXSpecificConfiguration": { - "SolverPositionIterations": 40, - "SolverVelocityIterations": 15 - } - }, "Component_[10756722832465606112]": { "$type": "EditorDisabledCompositionComponent", "Id": 10756722832465606112, - "DisabledComponents": [ - { + "DisabledComponents": { + "Component_[10677032121903654499]": { "$type": "EditorColliderComponent", "Id": 10677032121903654499, "ColliderConfiguration": { @@ -123,23 +96,6 @@ } } } - ] - }, - "Component_[11468911038330678770]": { - "$type": "EditorPrismaticJointComponent", - "Id": 11468911038330678770, - "Configuration": { - "Local Rotation": [ - 0.0, - -89.99999237060547, - 0.0 - ], - "Parent Entity": "Entity_[126339623467676]", - "Child Entity": "Entity_[126292378827420]" - }, - "Linear Limit": { - "Lower Limit": 0.0, - "Upper Limit": 0.30000001192092896 } }, "Component_[12504227659894329403]": { @@ -179,18 +135,9 @@ "$type": "EditorEntitySortComponent", "Id": 5370513902460427042, "Child Entity Order": [ - "Entity_[126348213402268]", - "Entity_[126300968762012]" + "Entity_[126348213402268]" ] }, - "Component_[608916002035258620]": { - "$type": "GenericComponentWrapper", - "Id": 608916002035258620, - "m_template": { - "$type": "ROS2FrameComponent", - "Frame Name": "kraken_manipulator_link_3" - } - }, "Component_[6657192468895787826]": { "$type": "EditorLockComponent", "Id": 6657192468895787826 @@ -198,6 +145,62 @@ "Component_[9274474151231227443]": { "$type": "EditorEntityIconComponent", "Id": 9274474151231227443 + }, + "EditorScriptCanvasComponent": { + "$type": "EditorScriptCanvasComponent", + "Id": 13248453752932245101, + "configuration": { + "sourceHandle": { + "id": "{91641115-06A4-5EA6-918F-D7AC6BEF9F96}", + "path": "Assets/Kraken/nose_middle_script.scriptcanvas" + }, + "sourceName": "nose_middle_script.scriptcanvas", + "propertyOverrides": { + "source": { + "id": "{91641115-06A4-5EA6-918F-D7AC6BEF9F96}", + "path": "Assets/Kraken/nose_middle_script.scriptcanvas" + }, + "variables": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 1 + }, + "isNullPointer": false, + "$type": "EntityId", + "value": "" + }, + "VariableId": { + "m_id": "{04507A1B-EB87-4A66-97D5-FBED973CDD5F}" + }, + "VariableName": "nose_tip", + "InitialValueSource": 1 + } + ], + "overrides": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 1 + }, + "isNullPointer": false, + "$type": "EntityId", + "value": "Entity_[126300968762012]" + }, + "InputControlVisibility": { + "Value": 850104567 + }, + "VariableId": { + "m_id": "{04507A1B-EB87-4A66-97D5-FBED973CDD5F}" + }, + "VariableName": "nose_tip", + "InitialValueSource": 1 + } + ] + } + } } } }, @@ -231,7 +234,7 @@ "guid": "{9AFE14A8-0BDD-5381-BE7B-C04B23681BB1}", "subId": 281942244 }, - "assetHint": "assets/applekraken_urdf/meshes/chassisandframe/chassisandframe.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/chassisandframe/chassisandframe.dae.azmodel" } } } @@ -319,32 +322,6 @@ "Id": "Entity_[126300968762012]", "Name": "kraken_manipulator_link_4", "Components": { - "Component_[11904146489978765935]": { - "$type": "GenericComponentWrapper", - "Id": 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"m_template": { + "$type": "PidMotorControllerComponent", + "JointMotorControllerConfiguration": { + "DebugMode": true + }, + "PidPosition": { + "P": 4.0 + } + } } } }, @@ -554,7 +557,7 @@ "guid": "{A859C579-A38E-529E-AE6C-36526F53535A}", "subId": 280990918 }, - "assetHint": "assets/applekraken_urdf/meshes/vacuumnozzle02/vacuumnozzle02.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/vacuumnozzle02/vacuumnozzle02.dae.azmodel" } } } @@ -709,7 +712,7 @@ "guid": "{3602DD44-EFF8-50CD-9F29-9994A79756C4}", "subId": 278093359 }, - "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelleft.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelleft.dae.azmodel" } } } @@ -771,7 +774,7 @@ "guid": "{70F9D715-A981-5292-88FA-89F30535BA66}", "subId": 285169054 }, - "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelright.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelright.dae.azmodel" } } } @@ -867,7 +870,7 @@ "guid": 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"OverrideParent": "" - } - }, "Component_[8256314269288681187]": { "$type": "EditorPrismaticJointComponent", "Id": 8256314269288681187, @@ -1541,6 +1520,10 @@ "Linear Limit": { "Lower Limit": -0.800000011920929, "Upper Limit": 1.2000000476837158 + }, + "Motor": { + "UseMotor": true, + "ForceLimit": 5.0 } }, "Component_[8857359616044755216]": { @@ -1554,6 +1537,20 @@ "$type": "ROS2FrameComponent", "Frame Name": "kraken_manipulator_link_2" } + }, + "PidMotorControllerComponent": { + "$type": "GenericComponentWrapper", + "Id": 14936381386396778998, + "m_template": { + "$type": "PidMotorControllerComponent", + "JointMotorControllerConfiguration": { + "DebugMode": true + }, + "PidPosition": { + "P": 5.0, + "D": 1.0 + } + } } } }, @@ -1575,7 +1572,7 @@ "guid": "{3602DD44-EFF8-50CD-9F29-9994A79756C4}", "subId": 278093359 }, - "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelleft.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelleft.dae.azmodel" } } } @@ -1696,7 +1693,7 @@ "guid": "{FC328E08-5887-5332-842A-B01DE759CB48}", "subId": 270905871 }, - "assetHint": "assets/applekraken_urdf/meshes/vacuumnozzle/vacuumnozzle.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/vacuumnozzle/vacuumnozzle.dae.azmodel" } } } @@ -1842,7 +1839,7 @@ "guid": "{874FCF6B-409F-566F-97BD-8E5F86470273}", "subId": 278383502 }, - "assetHint": "assets/applekraken_urdf/meshes/vehiclebody/vehiclebody.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/vehiclebody/vehiclebody.dae.azmodel" } } } @@ -1948,7 +1945,7 @@ "ShapeType": 3, "Cylinder": { "Configuration": { - "CookedData": 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+ "UseMotor": true, + "ForceLimit": 5.0 } }, "Component_[6517663388098082332]": { @@ -3099,6 +3079,20 @@ ] } } + }, + "PidMotorControllerComponent": { + "$type": "GenericComponentWrapper", + "Id": 5701450725263707599, + "m_template": { + "$type": "PidMotorControllerComponent", + "JointMotorControllerConfiguration": { + "DebugMode": true + }, + "PidPosition": { + "P": 5.0, + "D": 1.0 + } + } } } }, @@ -3219,7 +3213,7 @@ "guid": "{58733639-EA3A-5C12-9BB8-F677F219308B}", "subId": 277195318 }, - "assetHint": "assets/applekraken_urdf/meshes/steering/steeringarmleft.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/steering/steeringarmleft.dae.azmodel" } } } @@ -3321,7 +3315,7 @@ "guid": "{70F9D715-A981-5292-88FA-89F30535BA66}", "subId": 285169054 }, - "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelright.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/wheels/wheelright.dae.azmodel" } } } @@ -3377,31 +3371,6 @@ "Id": 13019395747643197444, "Parent Entity": 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"EditorSphereShapeComponent", "Id": 1622581209164351781, "SphereShape": { @@ -3427,7 +3392,7 @@ } } } - ] + } }, "Component_[4717135159086115019]": { "$type": "EditorBoxShapeComponent", @@ -3480,7 +3445,7 @@ "guid": "{99D850A3-8E59-5E78-93FE-AE8DB228684D}", "subId": 268955557 }, - "assetHint": "models/sensors/lidaros2/lidaros2.azmodel" + "assetHint": "models/sensors/lidaros2/lidaros2.fbx.azmodel" } } } @@ -3518,7 +3483,7 @@ "guid": "{99D850A3-8E59-5E78-93FE-AE8DB228684D}", "subId": 2574200790 }, - "assetHint": "models/sensors/lidaros2/lidaros2.pxmesh" + "assetHint": "models/sensors/lidaros2/lidaros2.fbx.pxmesh" }, "Configuration": { "PhysicsAsset": { @@ -3527,7 +3492,7 @@ "subId": 2574200790 }, "loadBehavior": "QueueLoad", - "assetHint": "models/sensors/lidaros2/lidaros2.pxmesh" + "assetHint": "models/sensors/lidaros2/lidaros2.fbx.pxmesh" } } } @@ -3634,17 +3599,17 @@ } } }, - "LidarParameters": { - "Layers": 16, - "Points per layer": 308, - "Min horizontal angle": -120.0, - "Max horizontal angle": 120.0, - "Min vertical angle": 12.0, - "Max vertical angle": -12.0, - "Max range": 50.0 - }, - "IgnoreLayer": true, - "IgnoredLayerIndex": 1 + "lidarCore": { + "lidarConfiguration": { + "lidarImplementation": "Scene Queries", + "LidarParameters": { + "Layers": 6 + }, + "IgnoredLayerIndices": [ + 1 + ] + } + } } }, "Component_[13013301136498148727]": { @@ -3771,7 +3736,7 @@ "guid": "{9AB01A07-F38F-59BD-A587-750422EC1A29}", "subId": 284821055 }, - "assetHint": "assets/applekraken_urdf/meshes/conveyorbelt/conveyorbelt.azmodel" + "assetHint": "assets/applekraken_urdf/meshes/conveyorbelt/conveyorbelt.fbx.azmodel" } } } @@ -3799,12 +3764,7 @@ }, "Component_[12122484710959107959]": { "$type": "{CA11DA46-29FF-4083-B5F6-E02C3A8C3A3D} EditorCameraComponent", - "Id": 12122484710959107959, - "Controller": { - "Configuration": { - "EditorEntityId": 3983586778043080688 - } - } + "Id": 12122484710959107959 }, "Component_[14009251538560288926]": { "$type": "EditorOnlyEntityComponent", @@ -3850,14 +3810,6 @@ "$type": "EditorInspectorComponent", "Id": 17766027344918997686 }, - "Component_[2426430931063954294]": { - "$type": "GenericComponentWrapper", - "Id": 2426430931063954294, - "m_template": { - "$type": "FollowingCameraComponent", - "Target": "Entity_[126373983206044]" - } - }, "Component_[4338215858930337320]": { "$type": "EditorLockComponent", "Id": 4338215858930337320 @@ -3865,6 +3817,14 @@ "Component_[692191384982186014]": { "$type": "EditorPendingCompositionComponent", "Id": 692191384982186014 + }, + "FollowingCameraComponent": { + "$type": "GenericComponentWrapper", + "Id": 11261797024956604921, + "m_template": { + "$type": "{92317883-9956-455E-9A1C-BF8986DC2F80} FollowingCameraComponent", + "Target": "Entity_[126373983206044]" + } } } }, @@ -3939,13 +3899,13 @@ "Parent Entity": "Entity_[126300968762012]", "Transform Data": { "Translate": [ - -0.0100172758102417, - -0.0020600557327270508, - 0.43325090408325195 + -0.010016202926635742, + -0.0020599365234375, + 0.4059760570526123 ], "Rotate": [ - 89.99990844726563, - 89.99994659423828, + 89.99992370605469, + 89.99995422363281, 0.0 ] } @@ -4010,6 +3970,10 @@ 0.0, 0.0005235988064669073 ] + }, + "PhysXSpecificConfiguration": { + "SolverPositionIterations": 40, + "SolverVelocityIterations": 10 } }, "Component_[17622040488620010506]": { @@ -4242,7 +4206,7 @@ "guid": "{55097FFC-EE11-5B2D-9E83-1ECE5FCA4341}", "subId": 1676432290 }, - "assetHint": "assets/apple_tree/apple_applemat_16773115630758679458.azmaterial" + "assetHint": "assets/apple_tree/apple_applemat_16773115630758679458.fbx.azmaterial" } } } @@ -4416,6 +4380,11 @@ "op": "replace", "path": "/ContainerEntity/Components/Component_[14744176274437433019]/Transform Data/Rotate/2", "value": 90.00000762939453 + }, + { + "op": "replace", + "path": "/Entities/Entity_[4752236637435]/Components/Component_[8819040866776028521]/Controller/Configuration/ModelAsset/assetHint", + "value": "assets/apple_crate/apple_crate.fbx.azmodel" } ] }, @@ -4441,6 +4410,11 @@ "op": "replace", "path": "/ContainerEntity/Components/Component_[14744176274437433019]/Transform Data/Rotate/2", "value": -90.0 + }, + { + "op": "replace", + "path": "/Entities/Entity_[4752236637435]/Components/Component_[8819040866776028521]/Controller/Configuration/ModelAsset/assetHint", + "value": "assets/apple_crate/apple_crate.fbx.azmodel" } ] }, @@ -4471,6 +4445,16 @@ "op": "replace", "path": "/ContainerEntity/Components/Component_[15224001494745498459]/Transform Data/Rotate/2", "value": 90.00000762939453 + }, + { + "op": "replace", + "path": "/Entities/Entity_[368081601558509]/Components/Component_[8819040866776028521]/Controller/Configuration/ModelAsset/assetHint", + "value": "assets/apple_crate/apple_crate.fbx.azmodel" + }, + { + "op": "replace", + "path": "/Entities/Entity_[710347545376749]/Components/Component_[12323307880868596825]/Controller/Configuration/ModelAsset/assetHint", + "value": "assets/apple_crate/apples.fbx.azmodel" } ] } diff --git a/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab b/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab index 5b5d6a5f..4a4dcedd 100644 --- a/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab +++ b/Project/Assets/Kraken/apple_kraken_v2/apple_kraken_v2.prefab @@ -120,38 +120,11 @@ "Id": "Entity_[126292378827420]", "Name": "kraken_manipulator_link_3", "Components": { - "Component_[10002942660819099122]": { - "$type": "EditorRigidBodyComponent", - "Id": 10002942660819099122, - "Configuration": { - "entityId": "", - "Gravity Enabled": false, - "Compute Mass": false, - "Mass": 10.0, - "Compute COM": false, - "Compute inertia": false, - "Inertia tensor": [ - 0.5, - 0.0, - 0.0, - 0.0, - 0.5, - 0.0, - 0.0, - 0.0, - 0.20000000298023224 - ] - }, - "PhysXSpecificConfiguration": { - "SolverPositionIterations": 40, - "SolverVelocityIterations": 15 - } - }, "Component_[10756722832465606112]": { "$type": "EditorDisabledCompositionComponent", "Id": 10756722832465606112, - "DisabledComponents": [ - { + "DisabledComponents": { + "Component_[10677032121903654499]": { "$type": "EditorColliderComponent", "Id": 10677032121903654499, "ColliderConfiguration": { @@ -176,23 +149,6 @@ } } } - ] - }, - "Component_[11468911038330678770]": { - "$type": "EditorPrismaticJointComponent", - "Id": 11468911038330678770, - "Configuration": { - "Local Rotation": [ - 0.0, - -89.99999237060547, - 0.0 - ], - "Parent Entity": "Entity_[126339623467676]", - "Child Entity": "Entity_[126292378827420]" - }, - "Linear Limit": { - "Lower Limit": 0.0, - "Upper Limit": 0.30000001192092896 } }, "Component_[12504227659894329403]": { @@ -232,18 +188,9 @@ "$type": "EditorEntitySortComponent", "Id": 5370513902460427042, "Child Entity Order": [ - "Entity_[126348213402268]", - "Entity_[126300968762012]" + "Entity_[126348213402268]" ] }, - "Component_[608916002035258620]": { - "$type": "GenericComponentWrapper", - "Id": 608916002035258620, - "m_template": { - "$type": "ROS2FrameComponent", - "Frame Name": "kraken_manipulator_link_3" - } - }, "Component_[6657192468895787826]": { "$type": "EditorLockComponent", "Id": 6657192468895787826 @@ -251,6 +198,62 @@ "Component_[9274474151231227443]": { "$type": "EditorEntityIconComponent", "Id": 9274474151231227443 + }, + "EditorScriptCanvasComponent": { + "$type": "EditorScriptCanvasComponent", + "Id": 11390052253695927945, + "configuration": { + "sourceHandle": { + "id": "{91641115-06A4-5EA6-918F-D7AC6BEF9F96}", + "path": "Assets/Kraken/nose_middle_script.scriptcanvas" + }, + "sourceName": "nose_middle_script.scriptcanvas", + "propertyOverrides": { + "source": { + "id": "{91641115-06A4-5EA6-918F-D7AC6BEF9F96}", + "path": "Assets/Kraken/nose_middle_script.scriptcanvas" + }, + "variables": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 1 + }, + "isNullPointer": false, + "$type": "EntityId", + "value": "" + }, + "VariableId": { + "m_id": "{04507A1B-EB87-4A66-97D5-FBED973CDD5F}" + }, + "VariableName": "nose_tip", + "InitialValueSource": 1 + } + ], + "overrides": [ + { + "Datum": { + "isOverloadedStorage": false, + "scriptCanvasType": { + "m_type": 1 + }, + "isNullPointer": false, + "$type": "EntityId", + "value": "Entity_[126300968762012]" + }, + "InputControlVisibility": { + "Value": 850104567 + }, + "VariableId": { + "m_id": "{04507A1B-EB87-4A66-97D5-FBED973CDD5F}" + }, + "VariableName": "nose_tip", + "InitialValueSource": 1 + } + ] + } + } } } }, @@ -284,7 +287,7 @@ "guid": "{8CBB82E5-A91C-5250-8B7D-15B71EC6DDEA}", "subId": 282084709 }, - "assetHint": "assets/kraken/apple_kraken_v2/meshes/applekraken_link0.azmodel" + "assetHint": "assets/kraken/apple_kraken_v2/meshes/applekraken_link0.dae.azmodel" } } } @@ -446,7 +449,19 @@ "Component_[5108782013390260427]": { "$type": "{27F1E1A1-8D9D-4C3B-BD3A-AFB9762449C0} TransformComponent", "Id": 5108782013390260427, - "Parent Entity": "Entity_[126292378827420]" + "Parent Entity": "Entity_[126339623467676]", + "Transform Data": { + "Translate": [ + -0.0670003890991211, + -0.35000014305114746, + -0.004000663757324219 + ], + "Rotate": [ + 90.01165771484375, + 0.000006555236268468434, + -0.000006556570497195935 + ] + } }, "Component_[6405455946319320324]": { "$type": "EditorColliderComponent", @@ -472,7 +487,7 @@ "ShapeType": 3, "Cylinder": { "Configuration": { - "CookedData": 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"DisabledComponents": { + "Component_[6396534764272724810]": { "$type": "EditorColliderComponent", "Id": 6396534764272724810, "ColliderConfiguration": { @@ -1683,12 +1660,13 @@ } } } - ] + } }, "Component_[6992524195676716432]": { "$type": "EditorEntitySortComponent", "Id": 6992524195676716432, "Child Entity Order": [ + "Entity_[126300968762012]", "Entity_[126331033533084]", "Entity_[126292378827420]" ] @@ -1708,6 +1686,10 @@ "Linear Limit": { "Lower Limit": -0.800000011920929, "Upper Limit": 1.2000000476837158 + }, + "Motor": { + "UseMotor": true, + "ForceLimit": 5.0 } }, "Component_[8857359616044755216]": { @@ -1721,6 +1703,17 @@ "$type": "ROS2FrameComponent", "Frame Name": "kraken_manipulator_link_2" } + }, + "PidMotorControllerComponent": { + "$type": "GenericComponentWrapper", + "Id": 11599073278917079284, + "m_template": { + "$type": "PidMotorControllerComponent", + "PidPosition": { + "P": 5.0, + "D": 1.0 + } + } } } }, @@ -1742,7 +1735,7 @@ "guid": 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"InstanceCounter": [ + { + "Key": 955089921810928021, + "Value": 1 + }, + { + "Key": 1244476766431948410, + "Value": 1 + }, + { + "Key": 5842116761103598202, + "Value": 2 + }, + { + "Key": 5842117060592297717, + "Value": 1 + }, + { + "Key": 11253545079622395724, + "Value": 1 + }, + { + "Key": 12332592210424825812, + "Value": 1 + }, + { + "Key": 13774516554878574510, + "Value": 1 + }, + { + "Key": 13774516556776238733, + "Value": 3 + }, + { + "Key": 15767130228066554489, + "Value": 1 + }, + { + "Key": 17282152668694508273, + "Value": 1 + }, + { + "Key": 17746292506071718793, + "Value": 1 + } + ] + } + } + } + } + } +} \ No newline at end of file diff --git a/Project/Gem/CMakeLists.txt b/Project/Gem/CMakeLists.txt index f4fa085c..81526780 100644 --- a/Project/Gem/CMakeLists.txt +++ b/Project/Gem/CMakeLists.txt @@ -50,6 +50,7 @@ ly_add_target( Gem::AtomLyIntegration_CommonFeatures.Editor.Static Gem::Atom_AtomBridge.Static Gem::ImGui.Static + Gem::PhysX.Static ) target_depends_on_ros2_packages(ROSConDemo.Static std_srvs nav_msgs vision_msgs) @@ -70,12 +71,69 @@ ly_add_target( AZ::AzFramework ) -# if enabled, ROSConDemo is used by all kinds of applications -ly_create_alias(NAME ROSConDemo.Builders NAMESPACE Gem TARGETS Gem::ROSConDemo) -ly_create_alias(NAME ROSConDemo.Tools NAMESPACE Gem TARGETS Gem::ROSConDemo) +# By default, we will specify that the above target ROSConDemo would be used by +# Client and Server type targets when this gem is enabled. If you don't want it +# active in Clients or Servers by default, delete one or more of the following lines: ly_create_alias(NAME ROSConDemo.Clients NAMESPACE Gem TARGETS Gem::ROSConDemo) ly_create_alias(NAME ROSConDemo.Servers NAMESPACE Gem TARGETS Gem::ROSConDemo) +# If we are on a host platform, we want to add the host tools targets like the ROSConDemo.Editor target which +# will also depend on ROSConDemo.Static +if(PAL_TRAIT_BUILD_HOST_TOOLS) + ly_add_target( + NAME ROSConDemo.Editor.Static STATIC + NAMESPACE Gem + AUTOMOC + AUTORCC + FILES_CMAKE + roscondemo_editor_files.cmake + INCLUDE_DIRECTORIES + PRIVATE + Source + PUBLIC + Include + COMPILE_DEFINITIONS + PRIVATE + ROSConDemo_EDITOR + BUILD_DEPENDENCIES + PUBLIC + AZ::AzToolsFramework + Gem::AtomLyIntegration_CommonFeatures.Editor.Static + Gem::LmbrCentral.API + Gem::ROS2.Editor.Static + Gem::ROSConDemo.Static + PRIVATE + ) + + find_package(urdfdom) + target_link_libraries(ROSConDemo.Editor.Static PUBLIC urdfdom::urdfdom_model) + + ly_add_target( + NAME ROSConDemo.Editor GEM_MODULE + NAMESPACE Gem + FILES_CMAKE + roscondemo_editor_shared_files.cmake + COMPILE_DEFINITIONS + PRIVATE + ROSConDemo_EDITOR + INCLUDE_DIRECTORIES + PRIVATE + Source + PUBLIC + Include + BUILD_DEPENDENCIES + PUBLIC + Gem::ROSConDemo.Editor.Static + Gem::Atom_Feature_Common.Static + ) + + # By default, we will specify that the above target ROSConDemo would be used by + # Tool and Builder type targets when this gem is enabled. If you don't want it + # active in Tools or Builders by default, delete one or both of the following lines: + ly_create_alias(NAME ROSConDemo.Tools NAMESPACE Gem TARGETS Gem::ROSConDemo.Editor) + ly_create_alias(NAME ROSConDemo.Builders NAMESPACE Gem TARGETS Gem::ROSConDemo.Editor) +endif() + ################################################################################ # Gem dependencies ################################################################################ diff --git a/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp b/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp index bd0d0dfe..a5d34527 100644 --- a/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp +++ b/Project/Gem/Source/Manipulator/KrakenManipulatorController.cpp @@ -7,7 +7,7 @@ */ #include "KrakenManipulatorController.h" -#include +#include #include #include @@ -103,11 +103,11 @@ namespace AppleKraken float error_x = std::numeric_limits::max(); float error_z = std::numeric_limits::max(); - ROS2::MotorizedJointRequestBus::Event(m_entityX, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointX); - ROS2::MotorizedJointRequestBus::EventResult(error_x, m_entityX, &ROS2::MotorizedJointRequest::GetError); + ROS2::PidMotorControllerRequestBus::Event(m_entityX, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointX); + ROS2::PidMotorControllerRequestBus::EventResult(error_x, m_entityX, &ROS2::PidMotorControllerRequests::GetError); - ROS2::MotorizedJointRequestBus::Event(m_entityZ, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointZ); - ROS2::MotorizedJointRequestBus::EventResult(error_z, m_entityZ, &ROS2::MotorizedJointRequest::GetError); + ROS2::PidMotorControllerRequestBus::Event(m_entityZ, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointZ); + ROS2::PidMotorControllerRequestBus::EventResult(error_z, m_entityZ, &ROS2::PidMotorControllerRequests::GetError); // auto - disable nose retrieve only if we reached small error. if (m_noseRetrieveRequest == true) @@ -133,7 +133,7 @@ namespace AppleKraken if (m_time_Y_ok > m_timeSetpointReach) { float error_y = std::numeric_limits::max(); - ROS2::MotorizedJointRequestBus::EventResult(error_y, m_entityY, &ROS2::MotorizedJointRequest::GetError); + ROS2::PidMotorControllerRequestBus::EventResult(error_y, m_entityY, &ROS2::PidMotorControllerRequests::GetError); if (error_y < max_errorY && error_y > -max_errorY) { m_noseRetrievingSuccess = true; @@ -145,7 +145,7 @@ namespace AppleKraken { m_noseRetrievingSuccess = false; } - ROS2::MotorizedJointRequestBus::Event(m_entityY, &ROS2::MotorizedJointRequest::SetSetpoint, m_setPointY); + ROS2::PidMotorControllerRequestBus::Event(m_entityY, &ROS2::PidMotorControllerRequests::SetSetpoint, m_setPointY); } } @@ -164,9 +164,9 @@ namespace AppleKraken float x{0}; float y{0}; float z{0}; - ROS2::MotorizedJointRequestBus::EventResult(x, m_entityX, &ROS2::MotorizedJointRequest::GetCurrentMeasurement); - ROS2::MotorizedJointRequestBus::EventResult(y, m_entityY, &ROS2::MotorizedJointRequest::GetCurrentMeasurement); - ROS2::MotorizedJointRequestBus::EventResult(z, m_entityZ, &ROS2::MotorizedJointRequest::GetCurrentMeasurement); + ROS2::PidMotorControllerRequestBus::EventResult(x, m_entityX, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement); + ROS2::PidMotorControllerRequestBus::EventResult(y, m_entityY, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement); + ROS2::PidMotorControllerRequestBus::EventResult(z, m_entityZ, &ROS2::PidMotorControllerRequests::GetCurrentMeasurement); return AZ::Vector3{x,y,z}; }; diff --git a/Project/Gem/Source/Manipulator/KrakenManipulatorController.h b/Project/Gem/Source/Manipulator/KrakenManipulatorController.h index 9aee7272..6fe91f60 100644 --- a/Project/Gem/Source/Manipulator/KrakenManipulatorController.h +++ b/Project/Gem/Source/Manipulator/KrakenManipulatorController.h @@ -52,8 +52,8 @@ namespace AppleKraken AZ::Vector3 m_desiredPosition{0, 0, 0 }; AZStd::optional m_desiredApple; - bool m_noseRetrieveRequest{false }; - bool m_noseRetrievingSuccess{false}; + bool m_noseRetrieveRequest{ false }; + bool m_noseRetrievingSuccess{ false }; AZ::Vector3 m_vectorX{1, 0, 0 }; AZ::Vector3 m_vectorY{0, 1, 0 }; diff --git a/Project/Gem/Source/ROSConDemoEditorModule.cpp b/Project/Gem/Source/ROSConDemoEditorModule.cpp new file mode 100644 index 00000000..64607492 --- /dev/null +++ b/Project/Gem/Source/ROSConDemoEditorModule.cpp @@ -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 + * + */ + +#include +#include +#include + +namespace ROSConDemo +{ + class ROSConDemoEditorModule : public ROSConDemoModuleInterface + { + public: + AZ_RTTI(ROSConDemoEditorModule, "{ca41105c-1c8c-1db7-72fe-c20cd0160c76}", ROSConDemoModuleInterface); + AZ_CLASS_ALLOCATOR(ROSConDemoEditorModule, AZ::SystemAllocator); + + ROSConDemoEditorModule() + { + m_descriptors.insert( + m_descriptors.end(), + { + ROSConDemoEditorSystemComponent::CreateDescriptor(), + }); + } + + /** + * Add required SystemComponents to the SystemEntity. + * Non-SystemComponents should not be added here + */ + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid(), + }; + } + }; +} // namespace ROSConDemo + +AZ_DECLARE_MODULE_CLASS(Gem_ROSConDemo, ROSConDemo::ROSConDemoEditorModule) diff --git a/Project/Gem/Source/ROSConDemoEditorSystemComponent.cpp b/Project/Gem/Source/ROSConDemoEditorSystemComponent.cpp new file mode 100644 index 00000000..5153b6de --- /dev/null +++ b/Project/Gem/Source/ROSConDemoEditorSystemComponent.cpp @@ -0,0 +1,69 @@ +/* + * 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 + * + */ +#include "ROSConDemoSystemComponent.h" +#include +#include +#include + +namespace ROSConDemo +{ + void ROSConDemoEditorSystemComponent::Reflect(AZ::ReflectContext* context) + { + if (auto serializeContext = azrtti_cast(context)) + { + serializeContext->Class()->Version(0); + } + } + + ROSConDemoEditorSystemComponent::ROSConDemoEditorSystemComponent() = default; + + ROSConDemoEditorSystemComponent::~ROSConDemoEditorSystemComponent() = default; + + void ROSConDemoEditorSystemComponent::GetProvidedServices(AZ::ComponentDescriptor::DependencyArrayType& provided) + { + ROSConDemoSystemComponent::GetProvidedServices(provided); + provided.push_back(AZ_CRC_CE("ROSConDemoEditorService")); + } + + void ROSConDemoEditorSystemComponent::GetIncompatibleServices(AZ::ComponentDescriptor::DependencyArrayType& incompatible) + { + ROSConDemoSystemComponent::GetIncompatibleServices(incompatible); + incompatible.push_back(AZ_CRC_CE("ROSConDemoEditorService")); + } + + void ROSConDemoEditorSystemComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) + { + required.push_back(AZ_CRC_CE("ROS2EditorService")); + ROSConDemoSystemComponent::GetRequiredServices(required); + } + + void ROSConDemoEditorSystemComponent::GetDependentServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& dependent) + { + ROSConDemoSystemComponent::GetDependentServices(dependent); + } + + void ROSConDemoEditorSystemComponent::Activate() + { + AzToolsFramework::EditorEntityContextNotificationBus::Handler::BusConnect(); + } + + void ROSConDemoEditorSystemComponent::Deactivate() + { + AzToolsFramework::EditorEntityContextNotificationBus::Handler::BusDisconnect(); + } + + void ROSConDemoEditorSystemComponent::OnStartPlayInEditor() + { + ROSConDemoSystemComponent::Activate(); + } + void ROSConDemoEditorSystemComponent::OnStopPlayInEditorBegin() + { + ROSConDemoSystemComponent::Deactivate(); + } + +} // namespace ROS2 diff --git a/Project/Gem/Source/ROSConDemoEditorSystemComponent.h b/Project/Gem/Source/ROSConDemoEditorSystemComponent.h new file mode 100644 index 00000000..b05276e0 --- /dev/null +++ b/Project/Gem/Source/ROSConDemoEditorSystemComponent.h @@ -0,0 +1,47 @@ +/* + * 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 + +#include + +namespace ROSConDemo +{ + /// System component for ROS2 editor + class ROSConDemoEditorSystemComponent + : public ROSConDemoSystemComponent + , private AzToolsFramework::EditorEntityContextNotificationBus::Handler + { + + public: + AZ_COMPONENT(ROSConDemoEditorSystemComponent, "{96e4d699-8ebf-f2cc-9c6f-7791d697e1fa}", ROSConDemoSystemComponent); + static void Reflect(AZ::ReflectContext* context); + + ROSConDemoEditorSystemComponent(); + ~ROSConDemoEditorSystemComponent(); + + private: + 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); + + ////////////////////////////////////////////////////////////////////////// + // Component overrides + void Activate() override; + void Deactivate() override; + ////////////////////////////////////////////////////////////////////////// + + ////////////////////////////////////////////////////////////////////////// + // EditorEntityContextNotificationBus overrides + void OnStartPlayInEditor() override; + void OnStopPlayInEditorBegin() override; + ////////////////////////////////////////////////////////////////////////// + }; +} // namespace ROSConDemo diff --git a/Project/Gem/Source/ROSConDemoModule.cpp b/Project/Gem/Source/ROSConDemoModule.cpp index e83c9207..d204da61 100644 --- a/Project/Gem/Source/ROSConDemoModule.cpp +++ b/Project/Gem/Source/ROSConDemoModule.cpp @@ -6,46 +6,20 @@ * */ -#include "ApplePicker/ApplePickerComponent.h" -#include "ApplePicker/GatheringRowComponent.h" -#include "ApplePicker/KrakenEffectorComponent.h" -#include "DemoStatistics/DemoStatisticsComponent.h" -#include "FruitStorage/FruitStorageComponent.h" -#include "Manipulator/KrakenManipulatorController.h" -#include "KrakenCamera/FollowingCameraComponent.h" -#include "ROSConDemoSystemComponent.h" + +#include "ROSConDemoModuleInterface.h" #include #include +#include + namespace ROSConDemo { - class ROSConDemoModule : public AZ::Module + class ROSConDemoModule : public ROSConDemoModuleInterface { public: - AZ_RTTI(ROSConDemoModule, "{E38575E4-7D2F-4617-B938-416E8C1C07B4}", AZ::Module); + AZ_RTTI(ROSConDemoModule, "{E38575E4-7D2F-4617-B938-416E8C1C07B4}", ROSConDemoModuleInterface); AZ_CLASS_ALLOCATOR(ROSConDemoModule, AZ::SystemAllocator, 0); - - ROSConDemoModule() - : AZ::Module() - { - m_descriptors.insert( - m_descriptors.end(), - { ROSConDemoSystemComponent::CreateDescriptor(), - AppleKraken::ApplePickerComponent::CreateDescriptor(), - AppleKraken::GatheringRowComponent::CreateDescriptor(), - AppleKraken::KrakenEffectorComponent::CreateDescriptor(), - AppleKraken::FruitStorageComponent::CreateDescriptor(), - AppleKraken::DemoStatisticsComponent::CreateDescriptor(), - AppleKraken::ManipulatorController::CreateDescriptor(), - AppleKraken::FollowingCameraComponent::CreateDescriptor() }); - } - - AZ::ComponentTypeList GetRequiredSystemComponents() const override - { - return AZ::ComponentTypeList{ - azrtti_typeid(), - }; - } }; } // namespace ROSConDemo diff --git a/Project/Gem/Source/ROSConDemoModuleInterface.h b/Project/Gem/Source/ROSConDemoModuleInterface.h new file mode 100644 index 00000000..c72f8ded --- /dev/null +++ b/Project/Gem/Source/ROSConDemoModuleInterface.h @@ -0,0 +1,52 @@ +/* + * 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 "ApplePicker/ApplePickerComponent.h" +#include "ApplePicker/GatheringRowComponent.h" +#include "ApplePicker/KrakenEffectorComponent.h" +#include "DemoStatistics/DemoStatisticsComponent.h" +#include "FruitStorage/FruitStorageComponent.h" +#include "Manipulator/KrakenManipulatorController.h" +#include "KrakenCamera/FollowingCameraComponent.h" +#include "ROSConDemoSystemComponent.h" +#include +#include + +namespace ROSConDemo +{ + class ROSConDemoModuleInterface : public AZ::Module + { + public: + AZ_RTTI(ROSConDemoModuleInterface, "{bcfb7709-ca93-8b50-b9c4-caaf1853e479}", AZ::Module); + AZ_CLASS_ALLOCATOR(ROSConDemoModuleInterface, AZ::SystemAllocator); + + ROSConDemoModuleInterface() + { + m_descriptors.insert( + m_descriptors.end(), + { ROSConDemoSystemComponent::CreateDescriptor(), + AppleKraken::ApplePickerComponent::CreateDescriptor(), + AppleKraken::GatheringRowComponent::CreateDescriptor(), + AppleKraken::KrakenEffectorComponent::CreateDescriptor(), + AppleKraken::FruitStorageComponent::CreateDescriptor(), + AppleKraken::DemoStatisticsComponent::CreateDescriptor(), + AppleKraken::ManipulatorController::CreateDescriptor(), + AppleKraken::FollowingCameraComponent::CreateDescriptor(), + }); + } + + //! Add required SystemComponents to the SystemEntity. + AZ::ComponentTypeList GetRequiredSystemComponents() const override + { + return AZ::ComponentTypeList{ + azrtti_typeid(), + }; + } + }; +} // namespace ROS2 diff --git a/Project/Gem/Source/ROSConDemoSystemComponent.cpp b/Project/Gem/Source/ROSConDemoSystemComponent.cpp index cdafcaad..d3ad9abe 100644 --- a/Project/Gem/Source/ROSConDemoSystemComponent.cpp +++ b/Project/Gem/Source/ROSConDemoSystemComponent.cpp @@ -22,6 +22,7 @@ namespace ROSConDemo { void ROSConDemoSystemComponent::Reflect(AZ::ReflectContext* context) { + if (AZ::SerializeContext* serialize = azrtti_cast(context)) { serialize->Class()->Version(0); @@ -67,7 +68,7 @@ namespace ROSConDemo incompatible.push_back(AZ_CRC("ROSConDemoService")); } - void ROSConDemoSystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required) + void ROSConDemoSystemComponent::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required) { } @@ -133,7 +134,7 @@ namespace ROSConDemo } void ROSConDemoSystemComponent::Activate() - { // TODO - the service should probably only be created in Game Mode + { ROSConDemoRequestBus::Handler::BusConnect(); auto ros2Node = ROS2::ROS2Interface::Get()->GetNode(); m_pathPlanService = ros2Node->create_service( diff --git a/Project/Gem/roscondemo_editor_files.cmake b/Project/Gem/roscondemo_editor_files.cmake new file mode 100644 index 00000000..c85d1a95 --- /dev/null +++ b/Project/Gem/roscondemo_editor_files.cmake @@ -0,0 +1,9 @@ +# 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 + +set(FILES + Source/ROSConDemoEditorSystemComponent.cpp + Source/ROSConDemoEditorSystemComponent.h +) diff --git a/Project/Gem/roscondemo_editor_shared_files.cmake b/Project/Gem/roscondemo_editor_shared_files.cmake new file mode 100644 index 00000000..d5450878 --- /dev/null +++ b/Project/Gem/roscondemo_editor_shared_files.cmake @@ -0,0 +1,8 @@ +# 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 + +set(FILES + Source/ROSConDemoEditorModule.cpp +) diff --git a/Project/Gem/roscondemo_files.cmake b/Project/Gem/roscondemo_files.cmake index bd73e3e6..a88c41c6 100644 --- a/Project/Gem/roscondemo_files.cmake +++ b/Project/Gem/roscondemo_files.cmake @@ -25,6 +25,7 @@ set(FILES Source/Manipulator/KrakenManipulatorController.cpp Source/Manipulator/KrakenManipulatorController.h Source/Manipulator/ManipulatorRequestBus.h + Source/ROSConDemoModuleInterface.h Source/ROSConDemoSystemComponent.cpp Source/ROSConDemoSystemComponent.h enabled_gems.cmake diff --git a/Project/Levels/Main/Main.prefab b/Project/Levels/Main/Main.prefab index 646bd816..f8ba8af5 100644 --- a/Project/Levels/Main/Main.prefab +++ b/Project/Levels/Main/Main.prefab @@ -161,31 +161,33 @@ "Parent Entity": "Entity_[1146574390643]" }, "Component_[16495365342755562265]": { - "$type": "GenericComponentWrapper", - "Id": 16495365342755562265, - "m_template": { - "$type": "ROS2SpawnerComponent", - "Spawnables": { - "apple_kraken": { - "assetId": { - "guid": "{66F579B8-CE81-5D9B-9634-628E7E1CFFBE}", - "subId": 4113364385 - }, - "assetHint": "assets/kraken/apple_kraken_v2/apple_kraken_v2.spawnable" - }, - "apple_kraken_rusty": { - "assetId": { - "guid": "{46BA014E-E98D-5DAA-9716-BA37E8903E6C}", - "subId": 485449417 + "$type": "ROS2SpawnerEditorComponent", + "Id": 11259578117255245776, + "Controller": { + "Configuration": { + "Editor entity id": "", + "Spawnables": { + "apple_kraken": { + "assetId": { + "guid": "{66F579B8-CE81-5D9B-9634-628E7E1CFFBE}", + "subId": 4113364385 + }, + "assetHint": "assets/kraken/apple_kraken_v2/apple_kraken_v2.spawnable" }, - "assetHint": "assets/kraken/apple_kraken_v1/apple_kraken_v1.spawnable" - }, - "apple_kraken_shiny": { - "assetId": { - "guid": "{66F579B8-CE81-5D9B-9634-628E7E1CFFBE}", - "subId": 4113364385 + "apple_kraken_rusty": { + "assetId": { + "guid": "{46BA014E-E98D-5DAA-9716-BA37E8903E6C}", + "subId": 485449417 + }, + "assetHint": "assets/kraken/apple_kraken_v1/apple_kraken_v1.spawnable" }, - "assetHint": "assets/kraken/apple_kraken_v2/apple_kraken_v2.spawnable" + "apple_kraken_shiny": { + "assetId": { + "guid": "{66F579B8-CE81-5D9B-9634-628E7E1CFFBE}", + "subId": 4113364385 + }, + "assetHint": "assets/kraken/apple_kraken_v2/apple_kraken_v2.spawnable" + } } } } @@ -1250,11 +1252,12 @@ } }, "Component_[8769373046366984691]": { - "$type": "GenericComponentWrapper", - "Id": 8769373046366984691, - "m_template": { - "$type": "ROS2SpawnPointComponent", - "Name": "line1" + "$type": "ROS2SpawnPointEditorComponent", + "Id": 11018288690574626473, + "Controller": { + "Configuration": { + "Name": "line1" + } } }, "Component_[9470973296863097127]": { @@ -5517,12 +5520,14 @@ "Id": 17503473695063282552 }, "Component_[2525712456180805096]": { - "$type": "GenericComponentWrapper", - "Id": 2525712456180805096, - "m_template": { - "$type": "ROS2SpawnPointComponent", - "Name": "line2" + "$type": "ROS2SpawnPointEditorComponent", + "Id": 11018288690574626473, + "Controller": { + "Configuration": { + "Name": "line2" + } } + }, "Component_[2840753425454738983]": { "$type": "EditorLockComponent", @@ -5605,11 +5610,12 @@ } }, "Component_[6181205910092673585]": { - "$type": "GenericComponentWrapper", - "Id": 6181205910092673585, - "m_template": { - "$type": "ROS2SpawnPointComponent", - "Name": "line3" + "$type": "ROS2SpawnPointEditorComponent", + "Id": 11018288690574626473, + "Controller": { + "Configuration": { + "Name": "line3" + } } }, "Component_[9470973296863097127]": { @@ -5651,11 +5657,12 @@ "Id": 386129393972332621 }, "Component_[4775227584806477299]": { - "$type": "GenericComponentWrapper", - "Id": 4775227584806477299, - "m_template": { - "$type": "ROS2SpawnPointComponent", - "Name": "line4" + "$type": "ROS2SpawnPointEditorComponent", + "Id": 11018288690574626473, + "Controller": { + "Configuration": { + "Name": "line4" + } } }, "Component_[523501923593589864]": { @@ -5731,11 +5738,12 @@ } }, "Component_[7157441797508480711]": { - "$type": "GenericComponentWrapper", - "Id": 7157441797508480711, - "m_template": { - "$type": "ROS2SpawnPointComponent", - "Name": "line5" + "$type": "ROS2SpawnPointEditorComponent", + "Id": 11018288690574626473, + "Controller": { + "Configuration": { + "Name": "line5" + } } }, "Component_[9470973296863097127]": { diff --git a/Project/Prefabs/LidarKraken.prefab b/Project/Prefabs/LidarKraken.prefab index 79e2bcfb..26a1fd64 100755 --- a/Project/Prefabs/LidarKraken.prefab +++ b/Project/Prefabs/LidarKraken.prefab @@ -197,14 +197,16 @@ } } }, - "LidarParameters": { - "Layers": 16, - "Points per layer": 308, - "Min horizontal angle": -120.0, - "Max horizontal angle": 120.0, - "Min vertical angle": 12.0, - "Max vertical angle": -12.0, - "Max range": 50.0 + "lidarConfiguration": { + "LidarParameters": { + "Layers": 16, + "Points per layer": 308, + "Min horizontal angle": -120.0, + "Max horizontal angle": 120.0, + "Min vertical angle": 12.0, + "Max vertical angle": -12.0, + "Max range": 50.0 + } } } }, diff --git a/Project/Registry/awscoreconfiguration.setreg b/Project/Registry/awscoreconfiguration.setreg index 46de3b5f..dd7f9f95 100644 --- a/Project/Registry/awscoreconfiguration.setreg +++ b/Project/Registry/awscoreconfiguration.setreg @@ -5,6 +5,10 @@ { "ProfileName": "default", "ResourceMappingConfigFileName": "default_aws_resource_mappings.json" + }, + "Physics": + { + "EnableReducedCoordinateArticulations": true } } } diff --git a/Project/project.json b/Project/project.json index 033016c6..f2da3e2a 100644 --- a/Project/project.json +++ b/Project/project.json @@ -20,5 +20,5 @@ "gem_names": [ "ROS2" ], - "engine_version": "1.0.0" + "engine_version": "2.1.0" }