Add Spline Path Publisher Component #108
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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
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Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
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Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
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Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
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Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
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Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
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Gems/RobotecSplineTools/Code/Include/SplineTools/SplineToolsTypeIds.h
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Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
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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
Gems/RobotecSplineTools/Code/Source/Clients/SplinePublisher.cpp
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Comment on lines
110
to
111
| const ROS2::ROS2FrameComponent* ros2Frame = GetEntity()->FindComponent<ROS2::ROS2FrameComponent>(); | ||
| if (!ros2Frame) |
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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.
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Done, I've replaced it with AZ_Assert check.
ros2FramePtr now is initialized OnActivate and reused in PublishSplinePath.
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]>
Signed-off-by: Wojciech Czerski <[email protected]>
Signed-off-by: Wojciech Czerski <[email protected]>
Signed-off-by: Wojciech Czerski <[email protected]>
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I've added an update frequency option and readme. |
michalpelka
approved these changes
May 5, 2025
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About:
This PR adds a component with a spline path publisher.
It exposes current entity attached spline as a path available for ros2.