RFC Refactor - Split ROS2 Gem #96
Conversation
Signed-off-by: Jan Hanca <[email protected]>
Signed-off-by: Jan Hanca <[email protected]>
| | | - automated handling of simulation time | | ||
| | | - handling of transformation frames | | ||
| | | - handling ROS 2 _namespaces_ and ROS 2 _topics_ | | ||
| | | - dynamic objects spawning via ROS 2 _services_ | |
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I think dynamic spawning feature should not be the part of ROS 2 gem.
However, we can handle it in the next step, after the initial split.
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There are few more components in the namespace that should be removed from the ROS2 Gem, e.g. FollowingCameraComponent. I will list them after this RFC is fully implemented and their visibility increases.
| | Gem name | O3DE dependencies | External dependencies | | ||
| | ------------------- | -------------------------------------------------- | --------------------- | | ||
| | _ROS2_ | - | _ROS 2_ ecosystem | | ||
| | _ROS2Sensors_ | _ROS2_, _PhysX5_ | - | |
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While developing the solution I noticed that ROS2WheelOdometrySensor uses the data from the WheelControllerComponent. This means ROS2Sensors Gem needs to depend on ROS2Controllers Gem. I will set this dependency in the first implementation before we decide how to solve this issue properly.
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The other option is to move ROS2WheelOdometrySensor to ROS2Controllers Gem and ROS2SensorBase to ROS2 Gem.
| - Posts by OpenRobotics and Robotec.ai in their social media. | ||
| - New robotic templates. | ||
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| ### Are there any open questions? |
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There is one open question about the namespaces. Currently, all sensors, controllers, and the importer are in the ROS2:: namespace. We might want to keep it as is, to ensure the projects using the current single-Gem implementation require only a simple change of adding more Gems in the project.json file, or switch namespaces completely to match the new Gems. I am open for comments.
Signed-off-by: Jan Hanca <[email protected]>
Signed-off-by: Jan Hanca <[email protected]>
This is an RFC for splitting the
ROS2Gem into smaller modules.Note: this is an initial version, with missing information on API for creating components. This section will be filled in later. The rest of the document is ready for the review.