-
Notifications
You must be signed in to change notification settings - Fork 74
[RFC 96] EBus and ROS2 support for sensor configurations #894
New issue
Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.
By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.
Already on GitHub? Sign in to your account
Closed
arturkamieniecki
wants to merge
13
commits into
o3de:feature/rfc_96_split_ros2
from
RobotecAI:ak/SensorConfigurations
Closed
Changes from all commits
Commits
Show all changes
13 commits
Select commit
Hold shift + click to select a range
f4c64d1
WIP-configbus
arturkamieniecki 5a2073b
Move configurations to public interface
arturkamieniecki e22b62f
EBus for configuration changes
arturkamieniecki 3c4f79b
Move files around
arturkamieniecki dcd0adb
Add backwards compatibilty to wheelOdometry
arturkamieniecki 3435dcf
Cleanup
arturkamieniecki 1977710
Add documentation
arturkamieniecki 0594cf2
Remove virtual destructor
arturkamieniecki cf70147
WIP unit test
arturkamieniecki 58eef9f
Add serialization test
arturkamieniecki 0b6463e
Fix atom dependency
arturkamieniecki 8e5016b
Minor fixes
arturkamieniecki 43dd331
Restore cmake
arturkamieniecki File filter
Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
There are no files selected for viewing
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
File renamed without changes.
35 changes: 35 additions & 0 deletions
35
Gems/ROS2Sensors/Code/Include/ROS2Sensors/Configuration/ConfigurationBus.h
jhanca-robotecai marked this conversation as resolved.
Show resolved
Hide resolved
|
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,35 @@ | ||
/* | ||
* 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 <AzCore/Component/ComponentBus.h> | ||
#include <AzCore/Component/EntityId.h> | ||
|
||
namespace ROS2 { | ||
template<typename Configuration> | ||
jhanca-robotecai marked this conversation as resolved.
Show resolved
Hide resolved
jhanca-robotecai marked this conversation as resolved.
Show resolved
Hide resolved
|
||
class ConfigurationRequests : public AZ::ComponentBus | ||
{ | ||
public: | ||
using BusIdType = AZ::EntityId; | ||
static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById; | ||
static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Multiple; | ||
|
||
//! Returns the current configuration of the component. | ||
virtual const Configuration GetConfiguration() const = 0; | ||
|
||
//! Sets the configuration of the component. | ||
//! Each component should handle the configuration change without fully reinitializing the ROS2 publisher. | ||
//! This will allow to change the configuration of the component at runtime. | ||
//! @param configuration The new configuration to set. | ||
virtual void SetConfiguration(const Configuration configuration) = 0; | ||
}; | ||
|
||
template<typename Configuration> | ||
using ConfigurationBus = AZ::EBus<ConfigurationRequests<Configuration>>; | ||
} | ||
jhanca-robotecai marked this conversation as resolved.
Show resolved
Hide resolved
|
File renamed without changes.
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
File renamed without changes.
jhanca-robotecai marked this conversation as resolved.
Show resolved
Hide resolved
|
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
File renamed without changes.
30 changes: 30 additions & 0 deletions
30
Gems/ROS2Sensors/Code/Include/ROS2Sensors/Odometry/ROS2WheelOdometryConfiguration.h
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Original file line number | Diff line number | Diff line change |
---|---|---|
@@ -0,0 +1,30 @@ | ||
/* | ||
* 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 <AzCore/RTTI/RTTI.h> | ||
#include <AzCore/Serialization/SerializeContext.h> | ||
#include <ROS2Sensors/Odometry/ROS2OdometryCovariance.h> | ||
|
||
namespace ROS2 { | ||
|
||
//! A structure capturing configuration of a wheel odometry sensor. | ||
struct ROS2WheelOdometryConfiguration | ||
{ | ||
AZ_RTTI(ROS2WheelOdometryConfiguration, "{9dc58d89-e674-4d7f-9ea9-afe3ae7fd2eb}"); | ||
jhanca-robotecai marked this conversation as resolved.
Show resolved
Hide resolved
|
||
|
||
ROS2WheelOdometryConfiguration() = default; | ||
virtual ~ROS2WheelOdometryConfiguration() = default; | ||
|
||
static void Reflect(AZ::ReflectContext* context); | ||
|
||
ROS2OdometryCovariance m_poseCovariance; | ||
ROS2OdometryCovariance m_twistCovariance; | ||
}; | ||
} | ||
jhanca-robotecai marked this conversation as resolved.
Show resolved
Hide resolved
|
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Oops, something went wrong.
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Uh oh!
There was an error while loading. Please reload this page.