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ROS2 Relative spawning #806

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ROS2 Relative spawning #806

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35 changes: 26 additions & 9 deletions Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -114,6 +114,7 @@ namespace ROS2
{
AZStd::string referenceFrame(request->reference_frame.c_str());
const bool isWGS{ referenceFrame == "wgs84" && m_controller.GetSupportWGS() };
const bool relativeSpawning{ referenceFrame == "relative" && m_controller.IsRelativeSpawningEnabled() };

SpawnEntityResponse response;

Expand Down Expand Up @@ -226,15 +227,31 @@ namespace ROS2
}
else
{
transform = { AZ::Vector3(
request->initial_pose.position.x, request->initial_pose.position.y, request->initial_pose.position.z),
AZ::Quaternion(
request->initial_pose.orientation.x,
request->initial_pose.orientation.y,
request->initial_pose.orientation.z,
request->initial_pose.orientation.w)
.GetNormalized(),
1.0f };
auto spawnPosition =
AZ::Vector3(request->initial_pose.position.x, request->initial_pose.position.y, request->initial_pose.position.z);
auto spawnRotation = AZ::Quaternion(
request->initial_pose.orientation.x,
request->initial_pose.orientation.y,
request->initial_pose.orientation.z,
request->initial_pose.orientation.w)
.GetNormalized();

if (relativeSpawning)
{
AZ_Error(
"Spawner",
m_controller.GetReferenceCoordinationSystem().IsValid(),
"Can't spawn relatively, reference frame not set or is invalid");

AZ::Transform referenceTm = AZ::Transform::CreateIdentity();
AZ::TransformBus::EventResult(
referenceTm, m_controller.GetReferenceCoordinationSystem(), &AZ::TransformBus::Events::GetWorldTM);

spawnPosition = referenceTm.TransformPoint(spawnPosition);
spawnRotation *= referenceTm.GetRotation();
}

transform = { spawnPosition, spawnRotation, 1.0f };
}
}

Expand Down
24 changes: 24 additions & 0 deletions Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponentController.cpp
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Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,8 @@ namespace ROS2
->Version(1)
->Field("Editor entity id", &ROS2SpawnerComponentConfig::m_editorEntityId)
->Field("Support WGS", &ROS2SpawnerComponentConfig::m_supportWGS)
->Field("Enable relative spawning", &ROS2SpawnerComponentConfig::m_enableRelativeSpawning)
->Field("Reference coordinate system", &ROS2SpawnerComponentConfig::m_referenceCoordinationSystem)
->Field("Spawnables", &ROS2SpawnerComponentConfig::m_spawnables)
->Field("Default spawn pose", &ROS2SpawnerComponentConfig::m_defaultSpawnPose)
->Field("Service names", &ROS2SpawnerComponentConfig::m_serviceNames)
Expand All @@ -86,6 +88,18 @@ namespace ROS2
editContext->Class<ROS2SpawnerComponentConfig>("ROS2SpawnerComponentConfig", "Config for ROS2SpawnerComponent")
->ClassElement(AZ::Edit::ClassElements::EditorData, "")
->DataElement(AZ::Edit::UIHandlers::Default, &ROS2SpawnerComponentConfig::m_supportWGS, "Support WGS", "Support for spawning entities using WGS84 coordinate system")
->DataElement(
AZ::Edit::UIHandlers::Default,
&ROS2SpawnerComponentConfig::m_enableRelativeSpawning,
"Enable relative spawning",
"When 'reference_frame' is set to 'relative' then spawns entity in the reference coordinate system")
->Attribute(AZ::Edit::Attributes::ChangeNotify, AZ::Edit::PropertyRefreshLevels::EntireTree)
->DataElement(
AZ::Edit::UIHandlers::Default,
&ROS2SpawnerComponentConfig::m_referenceCoordinationSystem,
"Reference coordinate system",
"Reference coordinate system used for spawning")
->Attribute(AZ::Edit::Attributes::Visibility, &ROS2SpawnerComponentConfig::UseReferenceCoordinationSystemVisibility)
->DataElement(AZ::Edit::UIHandlers::Default, &ROS2SpawnerComponentConfig::m_spawnables, "Spawnables", "Spawnables")
->DataElement(
AZ::Edit::UIHandlers::Default,
Expand Down Expand Up @@ -123,6 +137,16 @@ namespace ROS2
return m_config.m_supportWGS;
}

bool ROS2SpawnerComponentController::IsRelativeSpawningEnabled() const
{
return m_config.m_enableRelativeSpawning;
}

AZ::EntityId ROS2SpawnerComponentController::GetReferenceCoordinationSystem() const
{
return m_config.m_referenceCoordinationSystem;
}

void ROS2SpawnerComponentController::Reflect(AZ::ReflectContext* context)
{
ROS2SpawnerComponentConfig::Reflect(context);
Expand Down
9 changes: 9 additions & 0 deletions Gems/ROS2/Code/Source/Spawner/ROS2SpawnerComponentController.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@
#include <AzCore/Component/EntityId.h>
#include <AzCore/Memory/Memory_fwd.h>
#include <AzCore/Memory/SystemAllocator.h>
#include <AzCore/Serialization/EditContext.h>
#include <AzCore/base.h>
#include <AzFramework/Spawnable/Spawnable.h>

Expand Down Expand Up @@ -41,13 +42,19 @@ namespace ROS2
~ROS2SpawnerComponentConfig() = default;

static void Reflect(AZ::ReflectContext* context);
[[nodiscard]] AZ::u32 UseReferenceCoordinationSystemVisibility()
{
return m_enableRelativeSpawning ? AZ::Edit::PropertyVisibility::Show : AZ::Edit::PropertyVisibility::Hide;
}

AZ::EntityId m_editorEntityId;
AZ::Transform m_defaultSpawnPose = { AZ::Vector3{ 0, 0, 0 }, AZ::Quaternion{ 0, 0, 0, 1 }, 1.0 };

ROS2SpawnerServiceNames m_serviceNames;
AZStd::unordered_map<AZStd::string, AZ::Data::Asset<AzFramework::Spawnable>> m_spawnables;
bool m_supportWGS{ true };
bool m_enableRelativeSpawning{ false };
AZ::EntityId m_referenceCoordinationSystem;
};

class ROS2SpawnerComponentController : public SpawnerRequestsBus::Handler
Expand Down Expand Up @@ -79,6 +86,8 @@ namespace ROS2
AZ::EntityId GetEditorEntityId() const;
AZStd::unordered_map<AZStd::string, AZ::Data::Asset<AzFramework::Spawnable>> GetSpawnables() const;
bool GetSupportWGS() const;
bool IsRelativeSpawningEnabled() const;
AZ::EntityId GetReferenceCoordinationSystem() const;

private:
ROS2SpawnerComponentConfig m_config;
Expand Down