Adjusted to review

Signed-off-by: Antoni Puch <antoni.puch@robotec.ai>
o3de · Aug 31, 2023 · a754bae · a754bae
1 parent b828e44
commit a754bae
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Showing 4 changed files with 14 additions and 12 deletions.
diff --git a/Gems/ROS2/Code/Source/Lidar/LidarCore.cpp b/Gems/ROS2/Code/Source/Lidar/LidarCore.cpp
@@ -55,7 +55,6 @@ namespace ROS2
 
     void LidarCore::ConfigureLidarRaycaster()
     {
-        m_lidarConfiguration.FetchLidarImplementationFeatures();
         LidarRaycasterRequestBus::Event(m_lidarRaycasterId, &LidarRaycasterRequestBus::Events::ConfigureRayOrientations, m_lastRotations);
         LidarRaycasterRequestBus::Event(
             m_lidarRaycasterId,
@@ -142,7 +141,6 @@ namespace ROS2
 
         m_lastRotations = LidarTemplateUtils::PopulateRayRotations(m_lidarConfiguration.m_lidarParameters);
 
-        m_lidarConfiguration.FetchLidarImplementationFeatures();
         ConnectToLidarRaycaster();
         ConfigureLidarRaycaster();
     }

diff --git a/Gems/ROS2/Code/Source/Lidar/LidarSensorConfiguration.h b/Gems/ROS2/Code/Source/Lidar/LidarSensorConfiguration.h
@@ -27,8 +27,6 @@ namespace ROS2
 
         LidarSensorConfiguration(AZStd::vector<LidarTemplate::LidarModel> availableModels = {});
 
-        void FetchLidarImplementationFeatures();
-
         LidarSystemFeatures m_lidarSystemFeatures;
 
         AZStd::string m_lidarSystem;
@@ -46,11 +44,17 @@ namespace ROS2
         bool IsEntityExclusionVisible() const;
         bool IsMaxPointsConfigurationVisible() const;
 
-        AZStd::vector<AZStd::string> GetAvailableModels() const;
+        //! Update the lidar configuration based on the current lidar model selected.
         void FetchLidarModelConfiguration();
+        //! Update the lidar system features based on the current lidar system selected.
+        void FetchLidarImplementationFeatures();
 
         AZ::Crc32 OnLidarModelSelected();
         AZ::Crc32 OnLidarImplementationSelected();
+
+        //! Get all models this configuration can be set to (for example all 2D lidar models).
+        AZStd::vector<AZStd::string> GetAvailableModels() const;
+        //! Get all available lidar systems.
         AZStd::vector<AZStd::string> FetchLidarSystemList();
 
         const AZStd::vector<LidarTemplate::LidarModel> m_availableModels;

diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.cpp b/Gems/ROS2/Code/Source/Lidar/ROS2Lidar2DSensorComponent.cpp
@@ -19,7 +19,7 @@ namespace ROS2
 {
     namespace
     {
-        const char* kLaserScanType = "sensor_msgs::msg::LaserScan";
+        const char* LaserScanType = "sensor_msgs::msg::LaserScan";
     }
 
     void ROS2Lidar2DSensorComponent::Reflect(AZ::ReflectContext* context)
@@ -49,7 +49,7 @@ namespace ROS2
         : m_lidarCore(LidarTemplateUtils::Get2DModels())
     {
         TopicConfiguration ls;
-        AZStd::string type = kLaserScanType;
+        AZStd::string type = LaserScanType;
         ls.m_type = type;
         ls.m_topic = "ls";
         m_sensorConfiguration.m_frequency = 10.f;
@@ -74,7 +74,7 @@ namespace ROS2
         auto ros2Node = ROS2Interface::Get()->GetNode();
         AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for lidar sensor");
 
-        const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[kLaserScanType];
+        const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[LaserScanType];
         AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic);
         m_laserScanPublisher = ros2Node->create_publisher<sensor_msgs::msg::LaserScan>(fullTopic.data(), publisherConfig.GetQoS());
 

diff --git a/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp b/Gems/ROS2/Code/Source/Lidar/ROS2LidarSensorComponent.cpp
@@ -19,7 +19,7 @@ namespace ROS2
 {
     namespace
     {
-        const char* kPointCloudType = "sensor_msgs::msg::PointCloud2";
+        const char* PointCloudType = "sensor_msgs::msg::PointCloud2";
     }
 
     void ROS2LidarSensorComponent::Reflect(AZ::ReflectContext* context)
@@ -49,7 +49,7 @@ namespace ROS2
         : m_lidarCore(LidarTemplateUtils::Get3DModels())
     {
         TopicConfiguration pc;
-        AZStd::string type = kPointCloudType;
+        AZStd::string type = PointCloudType;
         pc.m_type = type;
         pc.m_topic = "pc";
         m_sensorConfiguration.m_frequency = 10.f;
@@ -82,7 +82,7 @@ namespace ROS2
 
         if (m_canRaycasterPublish)
         {
-            const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[kPointCloudType];
+            const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[PointCloudType];
             auto* ros2Frame = Utils::GetGameOrEditorComponent<ROS2FrameComponent>(GetEntity());
 
             LidarRaycasterRequestBus::Event(
@@ -97,7 +97,7 @@ namespace ROS2
             auto ros2Node = ROS2Interface::Get()->GetNode();
             AZ_Assert(m_sensorConfiguration.m_publishersConfigurations.size() == 1, "Invalid configuration of publishers for lidar sensor");
 
-            const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[kPointCloudType];
+            const TopicConfiguration& publisherConfig = m_sensorConfiguration.m_publishersConfigurations[PointCloudType];
             AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), publisherConfig.m_topic);
             m_pointCloudPublisher = ros2Node->create_publisher<sensor_msgs::msg::PointCloud2>(fullTopic.data(), publisherConfig.GetQoS());
         }