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Add SDFormat importer hooks #453

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50 changes: 25 additions & 25 deletions Gems/ROS2/Code/Source/Lidar/LidarTemplateUtils.cpp
Original file line number Diff line number Diff line change
Expand Up @@ -148,43 +148,43 @@ namespace ROS2
{
/*.m_model = */ Model::Custom2DLidar,
/*.m_name = */ "CustomLidar2D",
/*.m_minHAngle = */ -180.0f,
/*.m_maxHAngle = */ 180.0f,
/*.m_minVAngle = */ 0.f,
/*.m_maxVAngle = */ 0.f,
/*.m_layers = */ 1,
/*.m_numberOfIncrements = */ 924,
/*.m_minRange = */ 0.0f,
/*.m_maxRange = */ 100.0f,
/*.m_noiseParameters = */
{
/*.m_angularNoiseStdDev = */ 0.0f,
/*.m_minHAngle = */ -180.0f,
/*.m_maxHAngle = */ 180.0f,
/*.m_minVAngle = */ 0.f,
/*.m_maxVAngle = */ 0.f,
/*.m_layers = */ 1,
/*.m_numberOfIncrements = */ 924,
/*.m_minRange = */ 0.0f,
/*.m_maxRange = */ 100.0f,
/*.m_noiseParameters = */
{
/*.m_angularNoiseStdDev = */ 0.0f,
/*.m_distanceNoiseStdDevBase = */ 0.02f,
/*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f,
},
}
},
},
{
Model::Slamtec_RPLIDAR_S1,
{
/*.m_model = */ Model::Slamtec_RPLIDAR_S1,
/*.m_name = */ "Slamtec RPLIDAR S1",
/*.m_minHAngle = */ -180.0f,
/*.m_maxHAngle = */ 180.0f,
/*.m_minVAngle = */ 0.f,
/*.m_maxVAngle = */ 0.f,
/*.m_layers = */ 1,
/*.m_numberOfIncrements = */ 921,
/*.m_minRange = */ 0.1f,
/*.m_maxRange = */ 40.0f,
/*.m_noiseParameters = */
{
/*.m_angularNoiseStdDev = */ 0.0f,
/*.m_minHAngle = */ -180.0f,
/*.m_maxHAngle = */ 180.0f,
/*.m_minVAngle = */ 0.f,
/*.m_maxVAngle = */ 0.f,
/*.m_layers = */ 1,
/*.m_numberOfIncrements = */ 921,
/*.m_minRange = */ 0.1f,
/*.m_maxRange = */ 40.0f,
/*.m_noiseParameters = */
{
/*.m_angularNoiseStdDev = */ 0.0f,
/*.m_distanceNoiseStdDevBase = */ 0.02f,
/*.m_distanceNoiseStdDevRisePerMeter = */ 0.001f,
},
}
},
},
}
};

auto it = templates.find(model);
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -89,7 +89,7 @@ namespace ROS2
return m_controlConfiguration;
}

const TopicConfiguration& ROS2RobotControlComponent::GetSubscriberConfigration() const
const TopicConfiguration& ROS2RobotControlComponent::GetSubscriberConfiguration() const
{
return m_subscriberConfiguration;
}
Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -32,7 +32,7 @@ namespace ROS2

void SetControlConfiguration(const ControlConfiguration& controlConfiguration);

const TopicConfiguration& GetSubscriberConfigration() const;
const TopicConfiguration& GetSubscriberConfiguration() const;

void SetSubscriberConfiguration(const TopicConfiguration& subscriberConfiguration);

Expand Down
Original file line number Diff line number Diff line change
Expand Up @@ -6,33 +6,17 @@
*
*/

#include "ROS2SensorHooks.h"

#include <Camera/CameraConstants.h>
#include <Camera/ROS2CameraSensorEditorComponent.h>
#include <GNSS/ROS2GNSSSensorComponent.h>
#include <RobotImporter/Utils/RobotImporterUtils.h>
#include <ROS2/Frame/ROS2FrameComponent.h>
#include <RobotImporter/SDFormat/ROS2SensorHooks.h>
#include <RobotImporter/SDFormat/ROS2SensorHooksUtils.h>

#include <sdf/Camera.hh>
#include <sdf/NavSat.hh>
#include <sdf/Sensor.hh>

namespace ROS2::SDFormat
{
namespace Internal
{
void AddTopicConfiguration(
SensorConfiguration& sensorConfig,
const AZStd::string& topic,
const AZStd::string& messageType,
const AZStd::string& configName)
{
TopicConfiguration config;
config.m_topic = topic;
config.m_type = messageType;
sensorConfig.m_publishersConfigurations.insert(AZStd::make_pair(configName, config));
}
} // namespace Internal

SensorImporterHook ROS2SensorHooks::ROS2CameraSensor()
{
SensorImporterHook importerHook;
Expand All @@ -49,14 +33,22 @@ namespace ROS2::SDFormat
const sdf::Sensor& sdfSensor) -> SensorImporterHook::ConvertSensorOutcome
{
auto* cameraSensor = sdfSensor.CameraSensor();
if (!cameraSensor)
{
return AZ::Failure(AZStd::string("Failed to read parsed SDFormat data of %s camera sensor", sdfSensor.Name().c_str()));
}

CameraSensorConfiguration cameraConfiguration;
cameraConfiguration.m_depthCamera = cameraSensor->HasDepthCamera();
cameraConfiguration.m_colorCamera = (sdfSensor.Type() != sdf::SensorType::DEPTH_CAMERA) ? true : false;
cameraConfiguration.m_width = cameraSensor->ImageWidth();
cameraConfiguration.m_height = cameraSensor->ImageHeight();
cameraConfiguration.m_verticalFieldOfViewDeg =
cameraSensor->HorizontalFov().Degree() * (cameraConfiguration.m_height / cameraConfiguration.m_width);
if (cameraConfiguration.m_width != 0)
{
double aspectRatio = static_cast<double>(cameraConfiguration.m_height) / cameraConfiguration.m_width;
cameraConfiguration.m_verticalFieldOfViewDeg =
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What should the value of m_verticalFieldOfViewDeg be if the cameraConfiguration.m_width is zero?

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Mathematically vertical FoV for image width equal to zero would be infinity. In the practical case camera with zero width (or height) makes no sense. The parameters (including FoV) are checked later in the pipeline - this test is added to avoid software crashes while importing robots with improper parameters.

2.0 * AZStd::atan(AZStd::tan(cameraSensor->HorizontalFov().Radian() / 2.0) * aspectRatio);
}
if (sdfSensor.Type() != sdf::SensorType::DEPTH_CAMERA)
{
cameraConfiguration.m_nearClipDistance = static_cast<float>(cameraSensor->NearClip());
Expand All @@ -71,21 +63,25 @@ namespace ROS2::SDFormat
SensorConfiguration sensorConfiguration;
sensorConfiguration.m_frequency = sdfSensor.UpdateRate();
if (sdfSensor.Type() != sdf::SensorType::DEPTH_CAMERA)
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{
Internal::AddTopicConfiguration(
{ // COLOR_CAMERA and RGBD_CAMERA
Utils::AddTopicConfiguration(
sensorConfiguration, "camera_image_color", CameraConstants::ImageMessageType, CameraConstants::ColorImageConfig);
Internal::AddTopicConfiguration(
Utils::AddTopicConfiguration(
sensorConfiguration, "color_camera_info", CameraConstants::CameraInfoMessageType, CameraConstants::ColorInfoConfig);
}
if (sdfSensor.Type() != sdf::SensorType::CAMERA)
{
Internal::AddTopicConfiguration(
{ // DEPTH_CAMERA and RGBD_CAMERA
Utils::AddTopicConfiguration(
sensorConfiguration, "camera_image_depth", CameraConstants::ImageMessageType, CameraConstants::DepthImageConfig);
Internal::AddTopicConfiguration(
Utils::AddTopicConfiguration(
sensorConfiguration, "depth_camera_info", CameraConstants::CameraInfoMessageType, CameraConstants::DepthInfoConfig);
}

if (entity.CreateComponent<ROS2CameraSensorEditorComponent>(sensorConfiguration, cameraConfiguration))
// Create required components
Utils::CreateComponent<ROS2FrameComponent>(entity);

// Create Camera component
if (Utils::CreateComponent<ROS2CameraSensorEditorComponent>(entity, sensorConfiguration, cameraConfiguration))
{
return AZ::Success();
}
Expand All @@ -97,5 +93,4 @@ namespace ROS2::SDFormat

return importerHook;
}

} // namespace ROS2::SDFormat
Original file line number Diff line number Diff line change
@@ -0,0 +1,50 @@
/*
* 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
*
*/

#include <GNSS/ROS2GNSSSensorComponent.h>
#include <RobotImporter/SDFormat/ROS2SensorHooks.h>
#include <RobotImporter/SDFormat/ROS2SensorHooksUtils.h>

#include <sdf/NavSat.hh>
#include <sdf/Sensor.hh>

namespace ROS2::SDFormat
{
SensorImporterHook ROS2SensorHooks::ROS2GNSSSensor()
{
SensorImporterHook importerHook;
importerHook.m_sensorTypes = AZStd::unordered_set<sdf::SensorType>{ sdf::SensorType::NAVSAT };
importerHook.m_supportedSensorParams = AZStd::unordered_set<AZStd::string>{ ">update_rate" };
importerHook.m_pluginNames = AZStd::unordered_set<AZStd::string>{ "libgazebo_ros_gps_sensor.so" };
importerHook.m_supportedPluginParams = AZStd::unordered_set<AZStd::string>{};
importerHook.m_sdfSensorToComponentCallback = [](AZ::Entity& entity,
const sdf::Sensor& sdfSensor) -> SensorImporterHook::ConvertSensorOutcome
{
if (!sdfSensor.NavSatSensor())
{
return AZ::Failure(AZStd::string("Failed to read parsed SDFormat data of %s NavSat sensor", sdfSensor.Name().c_str()));
}

SensorConfiguration sensorConfiguration;
sensorConfiguration.m_frequency = sdfSensor.UpdateRate();
const AZStd::string messageType = "sensor_msgs::msg::NavSatFix";
Utils::AddTopicConfiguration(sensorConfiguration, "gnss", messageType, messageType);

if (Utils::CreateComponent<ROS2GNSSSensorComponent>(entity, sensorConfiguration, GNSSSensorConfiguration()))
{
return AZ::Success();
}
else
{
return AZ::Failure(AZStd::string("Failed to create ROS2 GNSS Sensor component"));
}
};

return importerHook;
}
} // namespace ROS2::SDFormat
Original file line number Diff line number Diff line change
@@ -0,0 +1,101 @@
/*
* 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
*
*/

#include <Imu/ROS2ImuSensorComponent.h>
#include <ROS2/Frame/ROS2FrameComponent.h>
#include <RobotImporter/SDFormat/ROS2SensorHooks.h>
#include <RobotImporter/SDFormat/ROS2SensorHooksUtils.h>
#include <Source/EditorStaticRigidBodyComponent.h>

#include <sdf/Imu.hh>
#include <sdf/Sensor.hh>

namespace ROS2::SDFormat
{
SensorImporterHook ROS2SensorHooks::ROS2ImuSensor()
{
SensorImporterHook importerHook;
importerHook.m_sensorTypes = AZStd::unordered_set<sdf::SensorType>{ sdf::SensorType::IMU };
importerHook.m_supportedSensorParams = AZStd::unordered_set<AZStd::string>{ ">update_rate",
">imu>angular_velocity>x>noise>mean",
">imu>angular_velocity>x>noise>stddev",
">imu>angular_velocity>y>noise>mean",
">imu>angular_velocity>y>noise>stddev",
">imu>angular_velocity>z>noise>mean",
">imu>angular_velocity>z>noise>stddev",
">imu>linear_acceleration>x>noise>mean",
">imu>linear_acceleration>x>noise>stddev",
">imu>linear_acceleration>y>noise>mean",
">imu>linear_acceleration>y>noise>stddev",
">imu>linear_acceleration>z>noise>mean",
">imu>linear_acceleration>z>noise>stddev" };
importerHook.m_pluginNames = AZStd::unordered_set<AZStd::string>{ "libgazebo_ros_imu_sensor.so" };
importerHook.m_supportedPluginParams = AZStd::unordered_set<AZStd::string>{};
importerHook.m_sdfSensorToComponentCallback = [](AZ::Entity& entity,
const sdf::Sensor& sdfSensor) -> SensorImporterHook::ConvertSensorOutcome
{
auto* imuSensor = sdfSensor.ImuSensor();
if (!imuSensor)
{
return AZ::Failure(AZStd::string("Failed to read parsed SDFormat data of %s imu sensor", sdfSensor.Name().c_str()));
}

ImuSensorConfiguration imuConfiguration;
const auto& angVelXNoise = imuSensor->AngularVelocityXNoise();
const auto& angVelYNoise = imuSensor->AngularVelocityYNoise();
const auto& angVelZNoise = imuSensor->AngularVelocityZNoise();
if (angVelXNoise.Type() == sdf::NoiseType::GAUSSIAN && angVelYNoise.Type() == sdf::NoiseType::GAUSSIAN &&
angVelZNoise.Type() == sdf::NoiseType::GAUSSIAN)
{
if (angVelXNoise.Mean() == 0.0 && angVelYNoise.Mean() == 0.0 && angVelZNoise.Mean() == 0.0)
{
imuConfiguration.m_angularVelocityVariance = AZ::Vector3(
static_cast<float>(angVelXNoise.StdDev() * angVelXNoise.StdDev()),
static_cast<float>(angVelYNoise.StdDev() * angVelYNoise.StdDev()),
static_cast<float>(angVelZNoise.StdDev() * angVelZNoise.StdDev()));
}
}

const auto& linAccXNoise = imuSensor->LinearAccelerationXNoise();
const auto& linAccYNoise = imuSensor->LinearAccelerationYNoise();
const auto& linAccZNoise = imuSensor->LinearAccelerationZNoise();
if (linAccXNoise.Type() == sdf::NoiseType::GAUSSIAN && linAccYNoise.Type() == sdf::NoiseType::GAUSSIAN &&
linAccZNoise.Type() == sdf::NoiseType::GAUSSIAN)
{
if (linAccXNoise.Mean() == 0.0 && linAccYNoise.Mean() == 0.0 && linAccZNoise.Mean() == 0.0)
{
imuConfiguration.m_linearAccelerationVariance = AZ::Vector3(
static_cast<float>(linAccXNoise.StdDev() * linAccXNoise.StdDev()),
static_cast<float>(linAccYNoise.StdDev() * linAccYNoise.StdDev()),
static_cast<float>(linAccZNoise.StdDev() * linAccZNoise.StdDev()));
}
}

SensorConfiguration sensorConfiguration;
sensorConfiguration.m_frequency = sdfSensor.UpdateRate();
const AZStd::string messageType = "sensor_msgs::msg::Imu";
Utils::AddTopicConfiguration(sensorConfiguration, "imu", messageType, messageType);

// Create required components
Utils::CreateComponent<ROS2FrameComponent>(entity);
Utils::CreateComponent<PhysX::EditorStaticRigidBodyComponent>(entity);

// Create Imu component
if (Utils::CreateComponent<ROS2ImuSensorComponent>(entity, sensorConfiguration, imuConfiguration))
{
return AZ::Success();
}
else
{
return AZ::Failure(AZStd::string("Failed to create ROS2 Imu Sensor component"));
}
};

return importerHook;
}
} // namespace ROS2::SDFormat
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