Add Spline Path Publisher Component #108
Open
+219
−11
Conversation
This file contains 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
Signed-off-by: Wojciech Czerski <[email protected]>
Signed-off-by: Wojciech Czerski <[email protected]>
Signed-off-by: Wojciech Czerski <[email protected]>
Signed-off-by: Wojciech Czerski <[email protected]>
Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
Outdated
Show resolved
Hide resolved
Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
Outdated
Show resolved
Hide resolved
Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
Outdated
Show resolved
Hide resolved
Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
Outdated
Show resolved
Hide resolved
Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
Outdated
Show resolved
Hide resolved
Gems/RobotecSplineTools/Code/Include/SplineTools/SplineToolsTypeIds.h
Outdated
Show resolved
Hide resolved
Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
Outdated
Show resolved
Hide resolved
Signed-off-by: Wojciech Czerski <[email protected]>
Signed-off-by: Wojciech Czerski <[email protected]>
Signed-off-by: Wojciech Czerski <[email protected]>
pijaro
reviewed
Feb 12, 2025
| serializeContext->Class<SplinePublisher, AZ::Component>()->Version(0)->Field("m_config", &SplinePublisher::m_config); | ||
| if (auto editContext = serializeContext->GetEditContext()) | ||
| { | ||
| editContext->Class<SplinePublisher>("SplinePathPublisher", "Enables to publish spline as a ros2 path.") |
There was a problem hiding this comment.
Suggested change
| editContext->Class<SplinePublisher>("SplinePathPublisher", "Enables to publish spline as a ros2 path.") | |
| editContext->Class<SplinePublisher>("SplinePathPublisher", "Enables to publish spline as a ROS 2 path.") |
| SplinePublisherConfiguration::SplinePublisherConfiguration() | ||
| { | ||
| m_TopicConfig.m_type = "nav_msgs::msg::Path"; | ||
| m_TopicConfig.m_topic = "spline_path"; |
There was a problem hiding this comment.
Nit: Technically, the "spline path" might be confusing, because the spline doesn't move along the route defined by a path (like "tractor path" for example). We could use just spline or something like spline_points.
Suggested change
| m_TopicConfig.m_topic = "spline_path"; | |
| m_TopicConfig.m_topic = "spline"; |
| const ROS2::ROS2FrameComponent* ros2Frame = GetEntity()->FindComponent<ROS2::ROS2FrameComponent>(); | ||
| if (!ros2Frame) | ||
| { | ||
| AZ_Warning("SplinePublisher::Activate", false, "ROS2 Frame Component is not available!"); |
There was a problem hiding this comment.
Suggested change
| AZ_Warning("SplinePublisher::Activate", false, "ROS2 Frame Component is not available!"); | |
| AZ_Warning("SplinePublisher::Activate", false, "ROS 2 frame component is not available!"); |
| const ROS2::ROS2FrameComponent* ros2Frame = GetEntity()->FindComponent<ROS2::ROS2FrameComponent>(); | ||
| if (!ros2Frame) | ||
| { | ||
| AZ_Warning("SplinePublisher::PublishSplineAsPath", false, "ROS2 Frame Component is not available!"); |
There was a problem hiding this comment.
Suggested change
| AZ_Warning("SplinePublisher::PublishSplineAsPath", false, "ROS2 Frame Component is not available!"); | |
| AZ_Warning("SplinePublisher::PublishSplineAsPath", false, "ROS 2 frame component is not available!"); |
Comment on lines
+110
to
+111
| const ROS2::ROS2FrameComponent* ros2Frame = GetEntity()->FindComponent<ROS2::ROS2FrameComponent>(); | ||
| if (!ros2Frame) |
There was a problem hiding this comment.
Technically, the ros2Frame can be assumed to exist because you connect to Tick bus after the check in line 68.
As far as I know, you can't remove/add components when entity is active, therefore we can be sure that nothing strange happen between the ticks (without deactivate/activate and frame re-check). Additionally, you can save the reference and reuse it here if needed - no need to find component in every tick.
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
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.
About:
This PR adds a component with a spline path publisher.
It exposes current entity attached spline as a path available for ros2.