Adjust code of ROS2ScriptIntegration to 2510. (#144)

Signed-off-by: Michał Pełka <[email protected]>
Signed-off-by: Jan Hanca <[email protected]>
Co-authored-by: Jan Hanca <[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

@@ -1,10 +1,11 @@
 
 #include "SubscriberSystemComponent.h"
-#include <ROS2ScriptIntegration/ROS2ScriptIntegrationTypeIds.h>
-#include <ROS2ScriptIntegration/ROS2ScriptSubscriberBus.h>
-
 #include <AzCore/RTTI/BehaviorContext.h>
 #include <AzCore/Serialization/SerializeContext.h>
+#include <ROS2/Clock/ROS2ClockRequestBus.h>
+#include <ROS2/ROS2Bus.h>
+#include <ROS2ScriptIntegration/ROS2ScriptIntegrationTypeIds.h>
+#include <ROS2ScriptIntegration/ROS2ScriptSubscriberBus.h>
 
 #include <geometry_msgs/msg/point32.hpp>
 #include <geometry_msgs/msg/pose_stamped.hpp>

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>

Gems/ROS2ScriptIntegration/gem.json

@@ -1,6 +1,6 @@
 {
     "gem_name": "ROS2ScriptIntegration",
-    "version": "1.0.0",
+    "version": "2.0.0",
     "display_name": "ROS2ScriptIntegration",
     "license": "Apache-2.0",
     "license_url": "https://opensource.org/licenses/Apache-2.0",
@@ -21,7 +21,7 @@
     "requirements": "This gem requires ROS2 to be installed and running and ROS 2 Gem",
     "documentation_url": "",
     "dependencies": [
-        "ROS2"
+        "ROS2>=4.0.0"
     ],
     "repo_uri": "https://github.com/RobotecAI/robotec-o3de-tools",
     "compatible_engines": [],

README.md

@@ -23,7 +23,7 @@ Note that this is not a "Canonical" part of O3DE - those gems are third-party co
 | **RobotecSplineTools**     | not verified    |
 | **RobotecWatchdogTools**   | not verified    |
 | **ROS2PoseControl**        | not verified    |
-| **ROS2ScriptIntegration**  | not verified    |
+| **ROS2ScriptIntegration**  | compatible      |
 | **SensorDebug**            | not verified    |
 | **Smoothing**              | not verified    |
 | **ViewportStreamer**       | not verified    |
@@ -506,4 +506,4 @@ The component needs:
 
 It should be attached to Dynamic rigid body. The component will compute Jacobian matrix (w.r.t wheel locatio, radius and model) of the robot locomotion.
 Jacobian will be used to find wheels rotation speed.
-More in dedicated [readme.md](Gems/WheelAnimTool/readme.md)
+More in dedicated [readme.md](Gems/WheelAnimTool/readme.md)