Merge branch 'development' of https://github.com/o3de/o3de-extras int…

…o moudgils/gitflow_230418_o3de_extra

Signed-off-by: moudgils <[email protected]>

.gitattributes

@@ -126,3 +126,4 @@ Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/marmoset_bake.tbs
 Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/Brass/brass_bake.spp filter=lfs diff=lfs merge=lfs -text
 Gems/AtomLyIntegration/CommonFeatures/Assets/Objects/Lucy/.wip/stone/stone_bake.spp filter=lfs diff=lfs merge=lfs -text
 Gems/WarehouseAssets/docs/images/*.png filter= diff= merge= -text
+Gems/ROS2/docs/**/*.png -filter -diff -merge

Gems/ROS2/Code/Include/ROS2/Manipulation/JointMotorControllerComponent.h

@@ -0,0 +1,62 @@
+/*
+ * 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/Component.h>
+#include <AzCore/Component/EntityBus.h>
+#include <AzCore/Component/TickBus.h>
+#include <AzCore/Serialization/SerializeContext.h>
+#include <ImGuiBus.h>
+#include <ROS2/Manipulation/JointMotorControllerConfiguration.h>
+
+namespace ROS2
+{
+    class JointMotorControllerComponent
+        : public AZ::Component
+        , public AZ::TickBus::Handler
+        , public ImGui::ImGuiUpdateListenerBus::Handler
+        , public AZ::EntityBus::Handler
+    {
+    public:
+        JointMotorControllerComponent() = default;
+        JointMotorControllerComponent(const JointMotorControllerComponent& other) = default;
+        JointMotorControllerComponent(JointMotorControllerComponent&& other) = default;
+        ~JointMotorControllerComponent() = default;
+        AZ_COMPONENT(JointMotorControllerComponent, "{88e725fc-29d8-45b9-b3e8-bd268ad9f413}");
+
+        // Component overrides
+        void Activate() override;
+        void Deactivate() override;
+
+        static void Reflect(AZ::ReflectContext* context);
+
+        // ImGui::ImGuiUpdateListenerBus overrides
+        void OnImGuiUpdate() override;
+
+        // EntityBus overrides
+        void OnEntityActivated(const AZ::EntityId& entityId) override;
+
+    protected:
+        AZ::EntityComponentIdPair m_jointComponentIdPair; //!< Joint component managed by the motorized joint.
+        float m_currentPosition{ 0.0f }; //!< Last measured position.
+        float m_currentSpeed{ 0.0f }; //!< Last measured speed.
+
+        JointMotorControllerConfiguration m_jointMotorControllerConfiguration;
+
+    private:
+        virtual float CalculateMotorSpeed([[maybe_unused]] float deltaTime)
+        {
+            return 0.0f;
+        };
+
+        virtual void DisplayControllerParameters(){};
+
+        // AZ::TickBus overrides
+        void OnTick(float deltaTime, AZ::ScriptTimePoint time) override;
+    };
+} // namespace ROS2

Gems/ROS2/Code/Include/ROS2/Manipulation/JointMotorControllerConfiguration.h

@@ -0,0 +1,27 @@
+/*
+ * 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>
+
+namespace ROS2
+{
+    struct JointMotorControllerConfiguration
+    {
+        AZ_TYPE_INFO(JointMotorControllerConfiguration, "{4358971c-36bd-4e13-8427-74ebba6c6760}");
+        static void Reflect(AZ::ReflectContext* context);
+
+        bool IsDebugModeVisible() const;
+
+        bool m_isDebugController{ false }; //!< Is it a debug controller.
+
+        bool m_debugMode{ false }; //!< Is debug mode activated.
+    };
+
+} // namespace ROS2

Gems/ROS2/Code/Include/ROS2/Manipulation/ManualMotorControllerComponent.h

@@ -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/Serialization/SerializeContext.h>
+#include <ROS2/Manipulation/JointMotorControllerComponent.h>
+
+namespace ROS2
+{
+    class ManualMotorControllerComponent : public JointMotorControllerComponent
+    {
+    public:
+        AZ_COMPONENT(ManualMotorControllerComponent, "{0817634e-4862-4245-a66e-72d1a6939705}", JointMotorControllerComponent);
+
+        ManualMotorControllerComponent();
+        ~ManualMotorControllerComponent() = default;
+        static void Reflect(AZ::ReflectContext* context);
+
+    private:
+        float m_setSpeed{ 0.0f };
+
+        float CalculateMotorSpeed([[maybe_unused]] float deltaTime) override;
+        void DisplayControllerParameters() override;
+    };
+} // namespace ROS2

Gems/ROS2/Code/Include/ROS2/Manipulation/MotorizedJointBus.h → Gems/ROS2/Code/Include/ROS2/Manipulation/PidMotorControllerBus.h

@@ -13,15 +13,15 @@
 
 namespace ROS2
 {
-    //! Interface to communicate with motorized joints.
-    //! It allows to apply setpoint and tracking performance of the PID controller.
-    class MotorizedJointRequest : public AZ::EBusTraits
+    //! Interface to communicate with a PID motor controller.
+    //! It allows to apply a setpoint and track performance of the controller.
+    class PidMotorControllerRequests : public AZ::EBusTraits
     {
     public:
         static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::ById;
         using BusIdType = AZ::EntityId;
 
-        virtual ~MotorizedJointRequest() = default;
+        virtual ~PidMotorControllerRequests() = default;
 
         //! Set current setpoint value for position controller.
         //! The setpoint is the desired position for a simulated actuator.
@@ -53,5 +53,5 @@ namespace ROS2
         virtual float GetError() = 0;
     };
 
-    using MotorizedJointRequestBus = AZ::EBus<MotorizedJointRequest>;
-} // namespace ROS2
+    using PidMotorControllerRequestBus = AZ::EBus<PidMotorControllerRequests>;
+} // namespace ROS2

Gems/ROS2/Code/Include/ROS2/Manipulation/PidMotorControllerComponent.h

@@ -0,0 +1,49 @@
+/*
+ * 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/Serialization/SerializeContext.h>
+#include <AzFramework/Entity/EntityDebugDisplayBus.h>
+#include <ROS2/Manipulation/JointMotorControllerComponent.h>
+#include <ROS2/Manipulation/PidMotorControllerBus.h>
+#include <ROS2/Utilities/Controllers/PidConfiguration.h>
+
+namespace ROS2
+{
+    class PidMotorControllerComponent
+        : public JointMotorControllerComponent
+        , public PidMotorControllerRequestBus::Handler
+    {
+    public:
+        AZ_COMPONENT(PidMotorControllerComponent, "{ac1d057f-a6ad-4a26-b44f-0ebda2f5f526}", JointMotorControllerComponent);
+
+        PidMotorControllerComponent() = default;
+        ~PidMotorControllerComponent() = default;
+        static void Reflect(AZ::ReflectContext* context);
+
+        // Component overrides
+        void Activate() override;
+        void Deactivate() override;
+
+        // PidMotorControllerBus overrides
+        void SetSetpoint(float setpoint) override;
+        float GetSetpoint() override;
+        float GetCurrentMeasurement() override;
+        float GetError() override;
+
+    private:
+        Controllers::PidConfiguration m_pidPos; //!< PID controller for position.
+        float m_zeroOffset{ 0.0f }; //!< Offset added to setpoint.
+        float m_setPoint{ 0.0f }; //!< Desired local position.
+        float m_error{ 0.0f }; //!< Current error (difference between control value and measurement).
+
+        // JointMotorControllerComponent overrides
+        float CalculateMotorSpeed([[maybe_unused]] float deltaTime) override;
+        void DisplayControllerParameters() override;
+    };
+} // namespace ROS2