Adjust code of ScriptIntegrationTo 2510.

Signed-off-by: Michał Pełka <[email protected]>

Author: michalpelka

Gems/ROS2ScriptIntegration/Code/Source/Clients/PublisherSystemComponent.cpp

@@ -1,4 +1,7 @@
 #include "PublisherSystemComponent.h"
+
+#include "ROS2/Clock/ROS2ClockRequestBus.h"
+
 #include <ROS2ScriptIntegration/ROS2ScriptIntegrationTypeIds.h>
 #include <ROS2ScriptIntegration/ROS2ScriptSubscriberBus.h>
 
@@ -184,7 +187,7 @@ namespace ROS2ScriptIntegration
         const AZStd::string& topicName, const AZStd::string& frame, const AZ::Transform& transform)
     {
         geometry_msgs::msg::PoseStamped message;
-        message.header.stamp = ROS2::ROS2Interface::Get()->GetROSTimestamp();
+        message.header.stamp = ROS2::ROS2ClockInterface::Get()->GetROSTimestamp();
         message.header.frame_id = std::string(frame.c_str());
         message.pose.position.x = transform.GetTranslation().GetX();
         message.pose.position.y = transform.GetTranslation().GetY();

Gems/ROS2ScriptIntegration/Code/Source/Clients/PublisherSystemComponent.h

@@ -7,7 +7,6 @@
 #include <AzCore/Component/TickBus.h>
 #include <AzCore/std/parallel/shared_mutex.h>
 #include <ROS2/ROS2Bus.h>
-#include <ROS2/ROS2GemUtilities.h>
 #include <ROS2/Utilities/ROS2Conversions.h>
 #include <ROS2ScriptIntegration/ROS2ScriptIntegrationBus.h>
 #include <ROS2ScriptIntegration/ROS2ScriptPublisherBus.h>

Gems/ROS2ScriptIntegration/Code/Source/Clients/ROS2ScriptIntegrationSystemComponent.h

@@ -7,7 +7,7 @@
 #include <AzCore/Component/TickBus.h>
 #include <AzCore/std/parallel/shared_mutex.h>
 #include <ROS2/ROS2Bus.h>
-#include <ROS2/ROS2GemUtilities.h>
+
 #include <ROS2/Utilities/ROS2Conversions.h>
 #include <ROS2ScriptIntegration/ROS2ScriptIntegrationBus.h>
 #include <ROS2ScriptIntegration/ROS2ScriptPublisherBus.h>

Gems/ROS2ScriptIntegration/Code/Source/Clients/SubscriberSystemComponent.cpp

@@ -2,7 +2,8 @@
 #include "SubscriberSystemComponent.h"
 #include <ROS2ScriptIntegration/ROS2ScriptIntegrationTypeIds.h>
 #include <ROS2ScriptIntegration/ROS2ScriptSubscriberBus.h>
-
+#include <ROS2/ROS2Bus.h>
+#include <ROS2/Clock/ROS2ClockRequestBus.h>
 #include <AzCore/RTTI/BehaviorContext.h>
 #include <AzCore/Serialization/SerializeContext.h>
 

Gems/ROS2ScriptIntegration/Code/Source/Clients/SubscriberSystemComponent.h

@@ -6,9 +6,6 @@
 #include <AzCore/Component/Component.h>
 #include <AzCore/Component/TickBus.h>
 #include <AzCore/std/parallel/shared_mutex.h>
-#include <ROS2/ROS2Bus.h>
-#include <ROS2/ROS2GemUtilities.h>
-#include <ROS2/Utilities/ROS2Conversions.h>
 #include <ROS2ScriptIntegration/ROS2ScriptIntegrationBus.h>
 #include <ROS2ScriptIntegration/ROS2ScriptPublisherBus.h>
 #include <ROS2ScriptIntegration/ROS2ScriptSubscriberBus.h>