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ROS2-related cherries for 2409.2 point release #821

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ROS2-related cherries for 2409.2 point release #821

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jhanca-robotecai
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@jhanca-robotecai jhanca-robotecai commented Jan 27, 2025 •
edited by michalpelka
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What does this PR do?

This is a collection of ROS 2 related cherry-picks that should be integrated in the next point release.

There should be another PR changing ROS 2 Gem's version, release date, etc., after this one.

How was this PR tested?

Three projects based on ROS 2 templates were generated and tested manually following the procedure proposed in RobotecAI/o3de-ros2-gem-testing#13 . The automatic tests listed in the same PR were not conducted. Multiple problems were found, but the issues were not caused by the changes from the PRs cherry-picked in this PR; they were present before. An issue with the list will be created.

Ros2FleetRobotTemplate tests

  • 1A. I checked if any warnings are presented when starting the O3DE Editor
  • 1A. I checked if there are any missing meshes and textures
  • 1B. I checked if o3de_fleet_nav_launch.py launcher works correctly
  • 1B. I saw Lidar data in RViz2 windows when launching o3de_fleet_nav_launch.py launcher
  • 1B. I checked if spawnable prefabs and spawnpoints are presented correctly via ROS 2
  • 1B. I checked if all expected ROS 2 topics are present

Ros2ProjectTemplate tests

  • 2A. I checked if any warnings are presented when starting the O3DE Editor
  • 2A. I checked if there are any missing meshes and textures
  • 2B. I checked if navigation.launch.py launcher works correctly
  • 2B. I saw Lidar data in RViz2 window when launching navigation.launch.py launcher
  • 2B. I checked if spawnable prefabs and spawnpoints are presented correctly via ROS 2
  • 2B. I checked if all expected ROS 2 topics are present

Ros2RoboticManipulationTemplate tests

  • 3A. I checked if any warnings are presented when starting the O3DE Editor in two different levels
  • 3A. I checked if there are any missing meshes and textures in two different levels
  • 3B. I checked if articulations can be controlled using ROS 2 action
  • 3B. I checked if panda_moveit_config_demo.launch.py launcher works correctly
  • 3B. I saw camera data in RViz2 windows when launching panda_moveit_config_demo.launch.py launcher

spham-amzn and others added 10 commits January 27, 2025 10:27
@spham-amzn @jhanca-robotecai
Fix ROS2 Project Template (o3de#790)
bb02446 
* Fix templated DemoLevel prefab by restoring concrete component name to templated component name
* Replace autoexec.cfg with load_level.setreg
* Bump revision number

Signed-off-by: Steve Pham <82231385+spham-amzn@users.noreply.github.com>
@patrykantosz @jhanca-robotecai
Improved ROS2 FrameConversion script 2310->2409 (o3de#789)
7633820 
Added if statement for 'remove' override operations

Signed-off-by: Patryk Antosz <patryk.antosz@robotec.ai>
@spham-amzn @jhanca-robotecai
Add ROS2 dependency to the ROS2 project template'
7a1783a 
s project gem

Signed-off-by: Steve Pham <82231385+spham-amzn@users.noreply.github.com>
@spham-amzn @jhanca-robotecai
Fix mislocated dependency setting
d7cb971 
Signed-off-by: Steve Pham <82231385+spham-amzn@users.noreply.github.com>
@jhanca-robotecai
Remove unused_variable warnings when release mode (o3de#798)
36102ae 
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
@MateuszWasilewski @jhanca-robotecai
Move Joint Tracjectory State to TrajectoryComponent (o3de#808)
682f5fa 
Signed-off-by: Mateusz Wasilewski <mateusz.wasilewski@robotec.ai>
@michalpelka @jhanca-robotecai
Removed reference to non-existing file in template (o3de#802)
0c039eb 
Signed-off-by: Michał Pełka <michal.pelka@robotec.ai>
@arturkamieniecki @jhanca-robotecai
Fix bug where joints werent clearing in JointPositionEditorComponent (o…
400227e 
…3de#814)

Signed-off-by: Artur Kamieniecki <artur.kamieniecki@robotec.ai>
@jhanca-robotecai
Disable ROS2OdometrySensor for Articulation links (o3de#817)
11a1eff 
Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>
@arturkamieniecki @jhanca-robotecai
Fix PostProcessFeatureProcessor view aliasing (o3de#818)
2d55ec8 
Signed-off-by: Artur Kamieniecki <artur.kamieniecki@robotec.ai>

Add update view alias function

Signed-off-by: Artur Kamieniecki <artur.kamieniecki@robotec.ai>
@jhanca-robotecai jhanca-robotecai requested review from a team as code owners January 27, 2025 16:58
@jhanca-robotecai jhanca-robotecai changed the title Jh/cherries 24092 ROS2-related cherries for 2409.2 point release Jan 27, 2025
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Tested against o3de point-release/2409.2 branch 7ec5c4e8dc

This was referenced Jan 27, 2025
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@byrcolin byrcolin added the needs-sig Indicates an issue or PR lacks a `sig/foo` label and requires one. label Jan 28, 2025
@jhanca-robotecai jhanca-robotecai added sig/simulation Categorizes an issue or PR as relevant to SIG Simulation and removed needs-sig Indicates an issue or PR lacks a `sig/foo` label and requires one. labels Jan 29, 2025
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arturkamieniecki commented Feb 6, 2025 •
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Re-tested on all templates. Works as expected.

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@pawelbudziszewski pawelbudziszewski pawelbudziszewski approved these changes

@arturkamieniecki arturkamieniecki arturkamieniecki approved these changes

@spham-amzn spham-amzn Awaiting requested review from spham-amzn

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8 participants
@jhanca-robotecai @arturkamieniecki @pawelbudziszewski @byrcolin @spham-amzn @patrykantosz @MateuszWasilewski @michalpelka