component documentation for frame, system and lidar (#2510)

* component documentation for frame, system and lidar
* The description of GNSS sensor component. (#2518)
* Add documentation for ROS2FrameEditorComponent (#2516)
* Applied review comments
---------
Signed-off-by: Adam Dąbrowski <[email protected]>
Co-authored-by: Michał Pełka <[email protected]>
Co-authored-by: Artur Kamieniecki <[email protected]>

content/docs/user-guide/components/reference/ros2/_index.md

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+---
+title: ROS 2 Components
+linktitle: ROS 2
+description: Using Robot Operating System (ROS 2) components in Open 3D Engine (O3DE).
+---
+
+Refer to the [Robotics](/docs/user-guide/interactivity/robotics) documentation to learn more about robotics simulation features of O3DE.
+
+ROS 2 Gem components can be divided into the following categories:
+-  [Core components](core), essential to running simulations independent of the type of robot.
+-  [Sensor components](sensors), responsible for creating and publishing data of simulated robot sensors.
+-  [Control components](control), handling movement of mobile bases and robot arms due to control commands.

content/docs/user-guide/components/reference/ros2/control/_index.md

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+---
+title: ROS 2 Control Components
+linktitle: Control
+description: Components for robot control with Robot Operating System (ROS 2) in Open 3D Engine (O3DE).
+---
+
+Refer to the [Robotics](/docs/user-guide/interactivity/robotics) documentation to learn more about robotics simulation features of O3DE.
+
+-  [GeoReference Level Component](ros2-georeference.md)

content/docs/user-guide/components/reference/ros2/control/ros2-georeference.md

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+---
+title: ROS 2 Georeference Level Component
+linktitle: ROS 2 Georeference Level Component
+description: The ROS 2 Georeference Level component enables you to specify the geographical location of your simulation within the Robot Operating System (ROS 2) in Open 3D Engine (O3DE).
+---
+
+The **ROS 2 Georeference Level** component allows you to choose the geographical location of your simulation. This component is a level component and should be added to the level entity. If you are using, for example, the [GNSS Sensor Component](../sensors/ros2-gnss-sensor.md), it complements its functionality.
+
+## Provider
+
+[ROS 2 Gem](/docs/user-guide/gems/reference/robotics/ros2)
+
+## Dependencies
+
+None
+
+## Properties
+
+![ROS 2 Georeference Level Component Properties](/images/user-guide/components/reference/robotics/ros2/ros2-georeference-component.png)
+
+| Property                    | Description                                                                                                                      | Values      | Default         |
+|-----------------------------|----------------------------------------------------------------------------------------------------------------------------------|-------------|-----------------|
+| **Altitude**                | The elevation of the ENU origin entity above Earth's WGS84 ellipsoid                                                             | meters      |  0              |
+| **Latitude**                | The north-south geographical coordinate in WGS84, where north is positive                                                        | degrees     |  0              |
+| **Longitude**               | The east-west geographical coordinate in WGS84, where east is positive                                                           | degrees     |  0              |
+| **ENU Origin Transform**    | Entity that has a geographical location assigned, and its local coordinate system follows ENU (East-North-Up) directions         | Entity      |                 |
+
+## Usage
+
+1. Identify a location in your level with a known geographical position. This could be a corner of a building or an intersection of roads.
+2. Create an empty entity in known location.
+3. Rotate the entity so that its local coordinate system aligns with mapping:
+   - X should point East.
+   - Y should point North.
+   - Z should point up.
+4. In the **ROS 2 Georeference Level component**, enter the geographical location of the entity and set the **ENU Origin Transform** to reference the entity mentioned above.

content/docs/user-guide/components/reference/ros2/core/_index.md

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+---
+title: ROS 2 Core Components
+linktitle: Core
+description: Core components for Robot Operating System (ROS 2) in Open 3D Engine (O3DE).
+---
+
+The following pages describe the ROS 2 Gem core components:
+-  [System Components](ros2-system-component.md). 
+-  [Frame components](ros2-frame).

content/docs/user-guide/components/reference/ros2/core/ros2-frame.md

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+---
+title: ROS 2 Frame Component
+linktitle: ROS 2 Frame
+description: ROS 2 Frame component for Robot Operating System (ROS 2) in Open 3D Engine (O3DE).
+---
+
+The **ROS 2 Frame** component reflects the concept of ROS frames of reference for coordinates, which follow a [REP103 standard](https://www.ros.org/reps/rep-0103.html).
+It is commonly used in any robotic system, for example sensors typically publish in their own reference frame, and
+localization is about finding a transformation from robot local frame to a more general frame of reference. 
+**ROS 2 Frame** component also handles namespaces which are essential for multi-robot simulations.
+
+## Provider
+
+[ROS 2 Gem](/docs/user-guide/gems/reference/robotics/ros2)
+
+## Dependencies
+
+The **ROS 2 Frame** component depends on Transform Service, which is provided by **Transform** component.
+
+## Properties
+
+![ROS 2 Frame component properties - default namespace](/images/user-guide/components/reference/robotics/ros2/ros2-frame-component-namespace-default.png)  
+![ROS 2 Frame component properties - custom namespace](/images/user-guide/components/reference/robotics/ros2/ros2-frame-component-namespace-custom.png)  
+
+| Property                    | Description                                                                                                                            | Values      | Default                                                     |
+|-----------------------------|----------------------------------------------------------------------------------------------------------------------------------------|-------------|-------------------------------------------------------------|
+| **Namespace Configuration** | Determines how to set the namespace for the component, which can be empty, custom, or derived from entity name.                        | Enumeration | Default (from name for top level entities, empty otherwise) |
+| **Frame Name**              | Name of the frame, which is used as `frame_id` field for published messages and broadcasted transforms.                                | String      | `sensor_frame`                                              |
+| **Joint Name**              | Name of the joint for this entity, which is supplementary information required by joint control APIs.                                  | String      | empty                                                       |
+| **Publish Transform**       | Determines whether the transformation to this frame's parent is included in the broadcasted transforms.                                | Boolean     | true                                                        |
+| **Effective namespace**     | Read only value providing the effective namespace of the frame. It is automatically updated and takes other frames into consideration. | String      | empty                                                       |
+
+## Usage
+
+**ROS 2 Frame** component handles namespace, frame id, and joint name associated with an entity, which is a part of a robot.
+Many other components such as sensors and controllers depend on it. **ROS 2 Frame** works internally with these components to
+ensure namespacing of topics, sending of proper `frame_id` in each message, and broadcasting of transforms to `/tf` and `/tf_static` topics.

content/docs/user-guide/components/reference/ros2/core/ros2-system-component.md

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+---
+title: ROS 2 System Component
+linktitle: ROS 2 System
+description: System Component for Robot Operating System (ROS 2) in Open 3D Engine (O3DE).
+---
+
+The **ROS 2 System** component creates a default ROS 2 Node with an executor, 
+and handles singleton behaviors such as publishing simulation clock and broadcasting transforms.
+
+## Provider
+
+[ROS 2 Gem](/docs/user-guide/gems/reference/robotics/ros2)
+
+## Dependencies
+
+The ROS 2 System Component depends only on Physics System Service.
+
+## Properties
+
+The system component has no properties.
+
+## Usage
+
+ROS 2 System Component handles several singleton-like behaviors of the simulation. 
+You can make use of its **Node** to conveniently create publishers and subscribers.
+When creating or updating ROS messages, you can use it to get current ROS timestamp from the simulation clock. 
+It is also internally used to publish static and dynamic transforms which are computed through **ROS 2 Frame** components.
+
+Note that the simulation ROS node accessible through component's API is there as a convenience, and you can create your own nodes and executors if you wish.
+
+## ROS2RequestsBus and ROS2Interface
+
+The `ROS2RequestBus` alongside the `ROS2Interface` is an API system bus and interface
+intended for both internal ROS 2 Gem components and external Gems.
+
+| Request Name           | Description                                                                                                      | Parameters                                                              | Return                                                     | Scriptable |
+|------------------------|------------------------------------------------------------------------------------------------------------------|-------------------------------------------------------------------------|------------------------------------------------------------|-|
+| `GetNode`              | Returns simulation node which is already setup and executing.                                                    | None                                                                    | Node: rclcpp::Node                                         | No |
+| `GetROSTimestamp`      | Returns a ROS timestamp based on simulation clock. Timestamps are useful for any message with a header.          | None                                                                    | Time: simulation time in ROS format                        | No |
+| `BroadcastTransform`   | Broadcasts static or dynamic transforms. This API is used internally to handle ROS 2 Frame transform publishing. | T: transform to broadcast; IsDynamic: whether it is a dynamic transform | None                                                       | No |

content/docs/user-guide/components/reference/ros2/sensors/_index.md

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+---
+title: ROS 2 Components
+linktitle: ROS 2
+description: Components for robot control with Robot Operating System (ROS 2) in Open 3D Engine (O3DE).
+---
+
+Refer to the [Robotics](/docs/user-guide/interactivity/robotics) documentation to learn more about robotics simulation features of O3DE.
+
+ROS 2 Gem components can be divided into the following categories:
+-  [Lidar Sensor component](ros2-lidar-sensor.md)
+-  [GNSS Sensor Component](ros2-gnss-sensor.md)

content/docs/user-guide/components/reference/ros2/sensors/common/sensor-configuration.md

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+---
+title: Sensor Configuration
+linktitle: Sensor Configuration
+description: Robot Operating System (ROS 2) sensor configuration in Open 3D Engine (O3DE).
+---
+
+**Sensor Configuration** is a common part of all sensors, encapsulating topics as well as
+[Quality of Service](https://docs.ros.org/en/rolling/Concepts/Intermediate/About-Quality-of-Service-Settings.html) settings and frequency for publishing.
+
+## Properties
+
+| Property       | Description                                                                                                 | Values  | Default |
+|----------------|-------------------------------------------------------------------------------------------------------------|---------|---------|
+| **Visualise**  | Whether to show visualisation of sensor working in the simulation, such as drawing point clouds for lidars. | Boolean | true    |
+| **Publishing Enabled** | Turn publishing sensor data on or off.                                                                      | Boolean | true    |
+| **Frequency**  | How often to publish sensor data (per second).                                                              | Float   | 10.0    |
+
+**Sensor Configuration** can include multiple topics. For each topic, the following properties are listed:
+
+| Property               | Description                                                                                                                                                      | Values      | Default           |
+|------------------------|------------------------------------------------------------------------------------------------------------------------------------------------------------------|-------------|-------------------|
+| **Topic**              | Name of topic. Note that it should not include namespace, since namespaces are handled by **ROS 2 Frame** components.                                            | String      | Depends on sensor |
+| **Reliability Policy** | Quality of Service (QoS) reliability setting. It controls whether published data needs to be delivered (with confirmation) or is only sent on best-effort basis. | Enumeration | Best Effort       |
+| **Durability Policy**  | Quality of Service (QoS) durability setting. It controls whether published data persists for subscribers that join later.                                        | Enumeration | Volatile          |
+| **History**            | Quality of Service (QoS) history depth, which is how many messages are kept in the sender queue.                                                                 | Integer     | 5                 |

content/docs/user-guide/components/reference/ros2/sensors/ros2-gnss-sensor.md

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+---
+title: ROS 2 GNSS Sensor Component
+linktitle: ROS 2 GNSS Sensor
+description: The ROS 2 GNSS Sensor component for the Robot Operating System (ROS 2) in Open 3D Engine (O3DE) simulates a GNSS (GPS) receiver and publishes corresponding messages.
+---
+
+The **ROS 2 GNSS Sensor** component encapsulates the simulation of a Global Navigation Satellite System (GNSS) receiver, providing data as if it were a real sensor. GNSSs include systems such as Global Positioning System (GPS) and Galileo. The GNSS component publishes messages containing the current geographical location as specified in the [NavSatFix](https://docs.ros2.org/latest/api/sensor_msgs/msg/NavSatFix.html) message format.
+
+## Provider
+
+[ROS 2 Gem](/docs/user-guide/gems/reference/robotics/ros2)
+
+## Dependencies
+
+[ROS 2 Frame Component](/user-guide/components/reference/ros2/core/ros2-frame)
+
+## Properties
+
+![ROS 2 GNSS Sensor Component Properties](/images/user-guide/components/reference/robotics/ros2/ros2-gnss-sensor-component.png)
+
+| Property                    | Description                                                                                                                      | Values      | Default         |
+|-----------------------------|----------------------------------------------------------------------------------------------------------------------------------|-------------|-----------------|
+| **Sensor Configuration**    | See [Sensor Configuration properties](common/sensor-configuration.md)                                                            |             |                 |
+
+## Usage
+
+1. Utilize the **ROS 2 Georeference Component** to establish the geographical localization of your level.
+2. Add the **ROS 2 GNSS Sensor** to your robot to simulate data emanating from a GNSS receiver.