EBus and ROS2 support for sensor configurations #894

arturkamieniecki · 2025-04-22T14:10:18Z

What does this PR do?

This PR enables runtime modification of sensor configuration using EBuses and ROS2 messages.
It add a new toggle to all sensors. If it is enabled, the sensor will create two topics. Get configuration and set configuration. Each of these components will use JSON to communicate.

How was this PR tested?

By modifying the configuration of the components.

Copilot

Pull Request Overview

This PR adds runtime sensor configuration support via EBuses and introduces new configuration structures across multiple sensor components. Key changes include:

Introduction of configuration structs and Bus overrides for GNSS, Contact, and Camera sensor components.
Refactoring of ROS2SensorComponentBase to support a configuration template parameter.
Updates to include paths and adjustments to Lidar sensor configuration with mutable model lists.

Reviewed Changes

Copilot reviewed 43 out of 43 changed files in this pull request and generated 1 comment.

Show a summary per file

File	Description
Gems/ROS2Sensors/Code/Source/Imu/ImuSensorConfiguration.cpp	Updated include path to use ROS2Sensors module.
Gems/ROS2Sensors/Code/Source/GNSS/ROS2GNSSSensorComponent.{h,cpp}	Added configuration struct and overrides for GNSS sensor.
Gems/ROS2Sensors/Code/Source/ContactSensor/ROS2ContactSensorComponent.{h,cpp}	Introduced configuration struct and interface for the Contact sensor.
Gems/ROS2Sensors/Code/Source/Camera/ROS2CameraSensorComponent{.h,.cpp}	Refactored sensor activation and configuration handling; added dedicated configuration method.
Gems/ROS2Sensors/Code/Include/ROS2Sensors/Sensor/ROS2SensorComponentBase.h	Updated base component to be templated with a configuration type and integrated ConfigurationBus support.
Gems/ROS2Sensors/Code/Include/ROS2Sensors/Lidar/LidarSensorConfiguration.h	Modified include paths and changed m_availableModels from const to mutable.
Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h	Added a new configuration Bus interface.

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Lidar/LidarSensorConfiguration.h

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h

Gems/ROS2Sensors/Code/Source/Odometry/ROS2WheelOdometry.cpp

Signed-off-by: Artur Kamieniecki <[email protected]>

spham-amzn · 2025-04-24T15:33:59Z

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Sensor/ROS2SensorComponentBase.h

+            document.Parse(msg.c_str());
+            if (document.HasParseError())
+            {
+                AZ_Error("ROS2Sensors", false, "Failed to parse configuration message");


Suggested change

AZ_Error("ROS2Sensors", false, "Failed to parse configuration message");

AZ_Error("ROS2Sensors", false, "Failed to parse configuration message: %s (Offset %u)", rapidjson::GetParseError_En(document.GetParseError()), document.GetErrorOffset());

spham-amzn · 2025-04-24T15:44:18Z

Gems/ROS2Sensors/Code/Source/Odometry/ROS2WheelOdometry.cpp

+        auto configInstance = reinterpret_cast<ROS2WheelOdometryComponent*>(outputValue);
+        AZ_Assert(configInstance, "Output value for JsonROS2WheelOdometryComponentConfigSerializer can't be null.");


reinterpret_cast is not the same as dynamic_cast, so if the expectation here is to validate the pointer type with the assert, all this assert will do is check if configInstance is null or not. To be clearer, the assert should be done up front

Suggested change

auto configInstance = reinterpret_cast<ROS2WheelOdometryComponent*>(outputValue);

AZ_Assert(configInstance, "Output value for JsonROS2WheelOdometryComponentConfigSerializer can't be null.");

AZ_Assert(outputValue, "Output value for JsonROS2WheelOdometryComponentConfigSerializer can't be null.");

auto configInstance = reinterpret_cast<ROS2WheelOdometryComponent*>(outputValue);

spham-amzn · 2025-04-24T15:45:19Z

Gems/ROS2Sensors/Code/Source/Odometry/ROS2WheelOdometry.cpp

+            serialize->Class<ROS2WheelOdometryComponent, SensorBaseType>()->Version(2)->Field(
+                "Odometry configuration", &ROS2WheelOdometryComponent::m_odometryConfiguration);


The formatting got collapsed here?

patrykantosz · 2025-04-25T08:24:54Z

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h

+
+    template<typename Configuration>
+    using ConfigurationBus = AZ::EBus<ConfigurationRequests<Configuration>>;
+}


Suggested change

}

} // namespace ROS2

patrykantosz · 2025-04-25T08:24:59Z

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h

+namespace ROS2 {
+    template<typename Configuration>


Suggested change

namespace ROS2 {

template<typename Configuration>

namespace ROS2

{

template<typename Configuration>

patrykantosz · 2025-04-25T08:25:41Z

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Odometry/ROS2WheelOdometryConfiguration.h

+        ROS2OdometryCovariance m_poseCovariance;
+        ROS2OdometryCovariance m_twistCovariance;
+    };
+}


Suggested change

}

} // namespace ROS2

patrykantosz · 2025-04-25T08:27:02Z

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Odometry/ROS2WheelOdometryConfiguration.h

+    //! A structure capturing configuration of a wheel odometry sensor.
+    struct ROS2WheelOdometryConfiguration
+    {
+        AZ_RTTI(ROS2WheelOdometryConfiguration, "{9dc58d89-e674-4d7f-9ea9-afe3ae7fd2eb}");


Move the UUID to the ROS2SensorsTypeIds.h.

patrykantosz · 2025-04-25T08:39:29Z

Gems/ROS2Sensors/Code/Source/ContactSensor/ROS2ContactSensorComponent.h

+    //! This structure is required to be able to use the SensorConfigurationRequestBus.
+    struct ROS2ContactSensorConfiguration
+    {
+        AZ_RTTI(ROS2ContactSensorConfiguration, "{f7ebfb9d-2d49-4059-a88f-f577a52cd68c}");


Move the UUID to the ROS2SensorsTypeIds.h file.

patrykantosz · 2025-04-25T08:39:56Z

Gems/ROS2Sensors/Code/Source/GNSS/ROS2GNSSSensorComponent.h

+    //! This structure is required to be able to use the SensorConfigurationRequestBus.
+    struct ROS2GNSSSensorConfiguration
+    {
+        AZ_RTTI(ROS2GNSSSensorConfiguration, "{e85947cc-2821-4fa7-93d0-b3150999a588}");


Move the UUID to the ROS2SensorsTypeIds.h file.

patrykantosz · 2025-04-25T08:41:26Z

Gems/ROS2Sensors/Code/Source/Odometry/ROS2OdometrySensorComponent.h

+    //! This structure is required to be able to use the SensorConfigurationRequestBus.
+    struct ROS2OdometrySensorConfiguration
+    {
+        AZ_RTTI(ROS2OdometrySensorConfiguration, "{04c5d154-6fa7-4c12-a4e3-025ac853198a}");


Move the UUID to the ROS2SensorsTypeIds.h file.

patrykantosz · 2025-04-25T08:51:17Z

Gems/ROS2Sensors/Code/Source/Odometry/ROS2WheelOdometry.h

+    class JsonROS2WheelOdometryComponentConfigSerializer : public AZ::BaseJsonSerializer
+    {
+    public:
+        AZ_RTTI(JsonROS2WheelOdometryComponentConfigSerializer, "{3f7f9be6-d964-4a55-b856-c03cc5754df0}", AZ::BaseJsonSerializer);


Move the UUID to the ROS2SensorsTypeIds.h file.

michalpelka · 2025-04-27T18:30:49Z

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h

+#include <AzCore/Component/EntityId.h>
+
+namespace ROS2 {
+    template<typename Configuration>


Consider:

Suggested change

template<typename Configuration>

template<typename ConfigurationT>

michalpelka

I think reusing std_msgs/string is not acceptable approach.
I support some internal API for adjusting sensors but ROS 2 messages should be used for sensors' data.

michalpelka · 2025-04-28T09:11:39Z

Gems/ROS2/Code/Source/SystemComponents/ROS2SystemComponent.cpp

@@ -76,7 +76,6 @@ namespace ROS2
    void ROS2SystemComponent::GetRequiredServices([[maybe_unused]] AZ::ComponentDescriptor::DependencyArrayType& required)
    {
        required.push_back(AZ_CRC("AssetDatabaseService", 0x3abf5601));
-        required.push_back(AZ_CRC("RPISystem", 0xf2add773));


FYI : this change is in the development.

michalpelka · 2025-04-28T09:37:21Z

Gems/ROS2Sensors/Code/Include/ROS2Sensors/Sensor/ROS2SensorComponentBase.h

+            {
+                AZStd::string ns = GetNamespace();
+                AZStd::string configurationName = ComponentConfigurationT::TYPEINFO_Name();
+                AZStd::string getTopic = ns + "/" + "Get" + configurationName;


This should be done with services.
The question is should be done?
I think at least RFC should be written on this feature. The review is not good place to discuss the shape of this feature.
It can modify configuration re-using string message. But how to modify extrinsic calibration of camera or lidar with this change?

arturkamieniecki requested a review from Copilot April 22, 2025 14:10

arturkamieniecki changed the title ~~Ak/sensor configurations~~ EBus support for sensor configurations Apr 22, 2025

Copilot AI reviewed Apr 22, 2025

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Gems/ROS2Sensors/Code/Include/ROS2Sensors/Lidar/LidarSensorConfiguration.h Show resolved Hide resolved

michalpelka reviewed Apr 22, 2025

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Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h Outdated Show resolved Hide resolved

michalpelka reviewed Apr 22, 2025

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Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h Outdated Show resolved Hide resolved

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michalpelka reviewed Apr 22, 2025

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Gems/ROS2Sensors/Code/Source/Odometry/ROS2WheelOdometry.cpp Show resolved Hide resolved

byrcolin added the sig/simulation Categorizes an issue or PR as relevant to SIG Simulation label Apr 22, 2025

jhanca-robotecai force-pushed the feature/rfc_96_split_ros2 branch from 6bf2af4 to 3144a50 Compare April 24, 2025 06:47

arturkamieniecki added 11 commits April 24, 2025 09:47

WIP-configbus

f4c64d1

Signed-off-by: Artur Kamieniecki <[email protected]>

Move configurations to public interface

5a2073b

Signed-off-by: Artur Kamieniecki <[email protected]>

EBus for configuration changes

e22b62f

Signed-off-by: Artur Kamieniecki <[email protected]>

Move files around

3c4f79b

Signed-off-by: Artur Kamieniecki <[email protected]>

Add backwards compatibilty to wheelOdometry

dcd0adb

Signed-off-by: Artur Kamieniecki <[email protected]>

Cleanup

3435dcf

Signed-off-by: Artur Kamieniecki <[email protected]>

Add documentation

1977710

Signed-off-by: Artur Kamieniecki <[email protected]>

Remove virtual destructor

0594cf2

Signed-off-by: Artur Kamieniecki <[email protected]>

WIP unit test

cf70147

Signed-off-by: Artur Kamieniecki <[email protected]>

Add serialization test

58eef9f

Signed-off-by: Artur Kamieniecki <[email protected]>

Fix atom dependency

0b6463e

Signed-off-by: Artur Kamieniecki <[email protected]>

arturkamieniecki force-pushed the ak/SensorConfigurations branch from 918d155 to 0b6463e Compare April 24, 2025 07:49

arturkamieniecki added 2 commits April 24, 2025 09:52

Minor fixes

8e5016b

Signed-off-by: Artur Kamieniecki <[email protected]>

Restore cmake

43dd331

Signed-off-by: Artur Kamieniecki <[email protected]>

arturkamieniecki marked this pull request as ready for review April 24, 2025 07:57

arturkamieniecki requested review from a team as code owners April 24, 2025 07:57

arturkamieniecki requested a review from michalpelka April 24, 2025 07:57

arturkamieniecki added 2 commits April 24, 2025 15:15

Add ros2 interface for configuration

3d8170a

Signed-off-by: Artur Kamieniecki <[email protected]>

Minor improvements

1cdb174

Signed-off-by: Artur Kamieniecki <[email protected]>

arturkamieniecki changed the title ~~EBus support for sensor configurations~~ EBus and ROS2 support for sensor configurations Apr 24, 2025

Minor bug fix, bad cast

46c2726

Signed-off-by: Artur Kamieniecki <[email protected]>

spham-amzn reviewed Apr 24, 2025

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patrykantosz reviewed Apr 25, 2025

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michalpelka reviewed Apr 27, 2025

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michalpelka requested changes Apr 28, 2025

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EBus and ROS2 support for sensor configurations #894

EBus and ROS2 support for sensor configurations #894

arturkamieniecki commented Apr 22, 2025 •

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michalpelka Apr 28, 2025

	AZ_Error("ROS2Sensors", false, "Failed to parse configuration message");
	AZ_Error("ROS2Sensors", false, "Failed to parse configuration message: %s (Offset %u)", rapidjson::GetParseError_En(document.GetParseError()), document.GetErrorOffset());

		auto configInstance = reinterpret_cast<ROS2WheelOdometryComponent*>(outputValue);
		AZ_Assert(configInstance, "Output value for JsonROS2WheelOdometryComponentConfigSerializer can't be null.");

		serialize->Class<ROS2WheelOdometryComponent, SensorBaseType>()->Version(2)->Field(
		"Odometry configuration", &ROS2WheelOdometryComponent::m_odometryConfiguration);

	template<typename Configuration>
	template<typename ConfigurationT>

EBus and ROS2 support for sensor configurations #894

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EBus and ROS2 support for sensor configurations #894

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arturkamieniecki commented Apr 22, 2025 • edited Loading

What does this PR do?

How was this PR tested?

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arturkamieniecki commented Apr 22, 2025 •

edited

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