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Signed-off-by: Wojciech Czerski <[email protected]>
RobotecAI · Jan 28, 2025 · 57322f8 · 57322f8
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commit 57322f8
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Showing 4 changed files with 48 additions and 25 deletions.
diff --git a/Gems/RobotecSplineTools/Code/Include/SplineTools/SplineToolsTypeIds.h b/Gems/RobotecSplineTools/Code/Include/SplineTools/SplineToolsTypeIds.h
@@ -22,6 +22,6 @@ namespace SplineTools
     inline constexpr const char* SplineSubscriberComponentTypeId = "{89B8A92A-8F17-4C30-AE0D-6B088C133283}";
     inline constexpr const char* SplineSubscriberConfigTypeId = "{44317FD2-51A1-41CA-BA44-F8BCAE9757CE}";
 
-    inline constexpr const char* SplinePublisherComponentTypeId = "{29c02686-04f6-416d-8f47-d2456a3e114c}";
-    inline constexpr const char* SplinePublisherConfigTypeId = "{dc7ac312-0f47-4ef2-a1b7-02e8716cf4ee}";
+    inline constexpr const char* SplinePublisherComponentTypeId = "{29C02686-04F6-416D-8F47-D2456A3E114C}";
+    inline constexpr const char* SplinePublisherConfigTypeId = "{DC7AC312-0F47-4EF2-A1B7-02E8716CF4EE}";
 } // namespace SplineTools
diff --git a/Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp b/Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
@@ -1,9 +1,8 @@
 #include "SplinePublisher.h"
 
-#include "ROS2/Utilities/ROS2Names.h"
-
 #include <ROS2/Frame/ROS2FrameComponent.h>
 #include <ROS2/ROS2Bus.h>
+#include <ROS2/Utilities/ROS2Names.h>
 
 namespace SplineTools
 {
@@ -60,20 +59,43 @@ namespace SplineTools
 
     void SplinePublisher::GetRequiredServices(AZ::ComponentDescriptor::DependencyArrayType& required)
     {
-        required.push_back(AZ_CRC("SplineService", 0x2b674d3c));
+        required.push_back(AZ_CRC_CE("SplineService"));
         required.push_back(AZ_CRC_CE("ROS2Frame"));
     }
 
     void SplinePublisher::Activate()
     {
+        const ROS2::ROS2FrameComponent* ros2Frame = GetEntity()->FindComponent<ROS2::ROS2FrameComponent>();
+        if (!ros2Frame)
+        {
+            AZ_Warning("SplinePublisher::Activate", false, "ROS2 Frame Component is not available!");
+            return;
+        }
+
+        AZStd::string frameNamespace = ros2Frame->GetNamespace();
+        if (!frameNamespace.empty())
+        {
+            m_config.m_TopicConfig.m_topic = AZStd::string::format("%s/%s", frameNamespace.c_str(), m_config.m_TopicConfig.m_topic.c_str());
+        }
+
+        // Create the ROS2 Publisher
         auto ros2Node = ROS2::ROS2Interface::Get()->GetNode();
         if (ros2Node)
         {
             m_publisher =
-                ros2Node->create_publisher<nav_msgs::msg::Path>(m_config.m_TopicConfig.m_topic.data(), m_config.m_TopicConfig.GetQoS());
+                ros2Node->create_publisher<nav_msgs::msg::Path>(m_config.m_TopicConfig.m_topic.c_str(), m_config.m_TopicConfig.GetQoS());
 
             AZ::TickBus::Handler::BusConnect();
         }
+
+        // const auto ros2Node = ROS2::ROS2Interface::Get()->GetNode();
+        // if (ros2Node)
+        // {
+        //     m_publisher =
+        //         ros2Node->create_publisher<nav_msgs::msg::Path>(m_config.m_TopicConfig.m_topic.data(), m_config.m_TopicConfig.GetQoS());
+        //
+        //     AZ::TickBus::Handler::BusConnect();
+        // }
     }
 
     void SplinePublisher::Deactivate()
@@ -84,9 +106,6 @@ namespace SplineTools
 
     void SplinePublisher::OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time)
     {
-        AZ_UNUSED(deltaTime);
-        AZ_UNUSED(time);
-
         PublishSplineAsPath();
     }
 
@@ -98,6 +117,11 @@ namespace SplineTools
         }
 
         const ROS2::ROS2FrameComponent* ros2Frame = GetEntity()->FindComponent<ROS2::ROS2FrameComponent>();
+        if (!ros2Frame)
+        {
+            AZ_Warning("SplinePublisher::PublishSplineAsPath", false, "ROS2 Frame Component is not available!");
+            return;
+        }
 
         nav_msgs::msg::Path pathMessage;
         pathMessage.header.frame_id = ros2Frame->GetFrameID().data();
@@ -127,7 +151,6 @@ namespace SplineTools
             pathMessage.poses.push_back(poseStamped);
         }
 
-        // Publish the message
         m_publisher->publish(pathMessage);
     }
-} // namespace SplineTools
+} // namespace SplineTools
diff --git a/Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.h b/Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.h
@@ -41,12 +41,12 @@ namespace SplineTools
         void Deactivate() override;
 
         // AZ::TickBus::Handler interface implementation
-        void OnTick([[maybe_unused]] float deltaTime, [[maybe_unused]] AZ::ScriptTimePoint time) override;
+        void OnTick(float deltaTime, AZ::ScriptTimePoint time) override;
 
     private:
         void PublishSplineAsPath() const;
 
         SplinePublisherConfiguration m_config;
         rclcpp::Publisher<nav_msgs::msg::Path>::SharedPtr m_publisher;
     };
-} // namespace SplineTools
+} // namespace SplineTools
diff --git a/Gems/RobotecSplineTools/Code/splinetools_private_files.cmake b/Gems/RobotecSplineTools/Code/splinetools_private_files.cmake
@@ -1,15 +1,15 @@
 
 set(FILES
-    Source/SplineToolsModuleInterface.cpp
-    Source/SplineToolsModuleInterface.h
-    Source/Clients/SplineToolsSystemComponent.cpp
-    Source/Clients/SplineToolsSystemComponent.h
-    Source/Clients/VisualizeSplineComponent.cpp
-    Source/Clients/VisualizeSplineComponent.h
-    Source/Clients/SplineSubscriber.h
-    Source/Clients/SplineSubscriber.cpp
-    Source/Clients/SplineSubscriberConfig.h
-    Source/Clients/SplineSubscriberConfig.cpp
-    Source/Clients/SplinePublisher.h
-    Source/Clients/SplinePublisher.cpp
+        Source/Clients/SplinePublisher.cpp
+        Source/Clients/SplinePublisher.h
+        Source/Clients/SplineSubscriber.cpp
+        Source/Clients/SplineSubscriber.h
+        Source/Clients/SplineSubscriberConfig.cpp
+        Source/Clients/SplineSubscriberConfig.h
+        Source/Clients/SplineToolsSystemComponent.cpp
+        Source/Clients/SplineToolsSystemComponent.h
+        Source/Clients/VisualizeSplineComponent.cpp
+        Source/Clients/VisualizeSplineComponent.h
+        Source/SplineToolsModuleInterface.cpp
+        Source/SplineToolsModuleInterface.h
 )