Update robotics content

Signed-off-by: Jan Hanca <jan.hanca@robotec.ai>

Author: jhanca-robotecai

content/docs/user-guide/interactivity/robotics/_index.md

@@ -13,11 +13,12 @@ These Gems provide various O3DE components such as sensors, robot control and st
 | [ROS 2 Project Configuration](project-configuration.md)             | Learn how to configure, build and run a project with the ROS 2 Gem.                           |
 | [ROS 2 Concepts and Structure](concepts-and-components-overview.md) | Overview of concepts and structure of the ROS 2 Gem, including an overview of its components. |
 | [Creating robotic simulation](creating-robotic-simulation.md)       | High-level steps to create a robotic simulation with O3DE.                                    |
-| [Importing robots](importing-robot.md)                              | Learn how to import robots using Robot Importer.                                              |
-| [Grippers](grippers.md)                                             | Documentation of robotic grippers feature.                                                    |
-| [Joints Manipulation](joints-manipulation.md)                       | Joints manipulation, such as with robotic manipulator arms.                                   |
 | [Deploying simulation](deploying-simulation.md)                     | Building standalone simulation.                                                               |
+| [Vehicle Dynamics](vehicle-dynamics.md)                             | Drive your robot with skid steering or Ackermann drive models.                                 |
+| [Joints Manipulation](joints-manipulation.md)                       | Control robotic manipulators and joints.                                             |
+| [Grippers](grippers.md)                                             | Documentation of robotic grippers feature.                                                    |
 | [Georeference](georeference.md)                                     | Link your scene with the existing location.                                                   |
+| [Importing robots](importing-robot.md)                              | Learn how to import robots using Robot Importer.                                              |
 | [Troubleshooting the simulation](troubleshooting.md)                | Helpful solutions to some of the most common issues with ROS 2.                               |
 
 
@@ -26,7 +27,6 @@ These Gems provide various O3DE components such as sensors, robot control and st
 | Topic                                                                                                                      | Description                                                 |
 | -------------------------------------------------------------------------------------------------------------------------- | ----------------------------------------------------------- |
 | [ROS 2 Gem reference](/docs/user-guide/gems/reference/robotics/ros2)                                                       | Gem reference documentation for ROS 2 Gem.                  |
-| [Setting up CLion IDE](https://github.com/o3de/o3de-extras/blob/development/Gems/ROS2/docs/guides/development_in_clion.md) | CLion IDE project setup to support the ROS 2 Gem.           |
 | [Open 3D Engine Contributor guide](/docs/contributing)                                                                     | Read this guide if you wish to contribute to the ROS 2 Gem. |
 
 

content/docs/user-guide/interactivity/robotics/concepts-and-components-overview.md

@@ -2,7 +2,7 @@
 linkTitle: Concepts and Structure
 title: ROS 2 Concepts and Structure
 description: Understanding basic concepts and structure of the ROS 2 Gem in Open 3D Engine (O3DE).
-weight: 300
+weight: 120
 toc: true
 ---
 
@@ -22,7 +22,7 @@ Note that the simulation node is handled through `ROS2SystemComponent` - a singl
 Typically, you will be creating publishers and subscriptions in order to communicate with the ROS 2 ecosystem using common topics.
 This is done through [rclcpp API](https://docs.ros.org/en/humble/p/rclcpp/generated/classrclcpp_1_1Node.html#classrclcpp_1_1Node). Example:
 
-```
+```cpp
 auto ros2Node = ROS2Interface::Get()->GetNode();
 AZStd::string fullTopic = ROS2Names::GetNamespacedName(GetNamespace(), m_MyTopic);
 m_myPublisher = ros2Node->create_publisher<sensor_msgs::msg::PointCloud2>(fullTopic.data(), QoS());
@@ -131,39 +131,43 @@ See the [Vehicle Dynamics](vehicle-dynamics.md) section.
 Before the simulation, you must set up as the component's available spawnables and define the named spawn points in the component's properties via the **O3DE Editor**.
 This can be done by adding `ROS2SpawnPointComponent` to a child entity of an entity with `ROS2SpawnerComponent`. 
 During the simulation you can access the names of available spawnables and request spawning by using ROS 2 services.
-The names of services are `/get_available_spawnable_names` and `/spawn_entity` respectivly.
+The names of services are `/get_available_spawnable_names` and `/spawn_entity` respectively.
 _GetWorldProperties.srv_ and _SpawnEntity.srv_ types are used to handle these features.
 In order to request the defined spawn point names, you can use the `/get_spawn_points_names` service with the `GetWorldProperties.srv` type.
 Detailed information about specific spawn point, such as pose, can be accessed using the `/get_spawn_point_info` service with the `GetModelState.srv` type.
 All used services types are defined in the **gazebo_msgs** package.
 
 - **Spawning**: To spawn, you must pass in the spawnable name into `request.name` and the position of entity into `request.initial_pose`.
   - Example call: 
-  ```
+  ```shell
   ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity "{name: 'robot', initial_pose: {position:{ x: 4.0, y: 4.0, z: 0.2 }, orientation: { x: 0.0, y: 0.0, z: 0.0, w: 0.0 } } }"
   ```
 - **Spawning in defined spawn point**: Pass in a spawnable into `request.name` and the name of the spawn point into `request.xml`.
   - Example call:
-    ``` 
+    ```shell
     ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity "{name: 'robot', xml: 'spawn_spot'}"
     ```
 - **Spawning using WGS84 coordinates**: You can also spawn objects using geographical location when [Georeference component](georeference.md) is enabled. Set the `reference_frame` to _wgs84_ and provide the coordinates.
   - Example call spawning at 52°14′22″N, 21°02′44″E:
-    ```
+    ```shell
     ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity "{name: 'robot', initial_pose: { position: { x: 52.2406855386909, y: 21.04264386637526, z: 0.0 }, orientation: {  x: 0.0, y: 0.0, z: 0.0, w: 0.0 } }, reference_frame: 'wgs84'}"
     ```
 - **Available spawnable names access**: Send the names of available spawnables into `response.model_names`.
   - Example call:
-    ```
+    ```shell
     ros2 service call /get_available_spawnable_names gazebo_msgs/srv/GetWorldProperties
     ```
 - **Defined spawn points' names access**: Send the names of defined points into `response.model_names`
   - Example call:
-    ```
+    ```shell
     ros2 service call /get_spawn_points_names gazebo_msgs/srv/GetWorldProperties
     ```
 - **Detailed spawn point info access**: Pass in the spawn point name into `request.model_name` and the defined pose into `response.pose`.
   - Example call:
-    ```
+    ```shell
     ros2 service call /get_spawn_point_info gazebo_msgs/srv/GetModelState "{model_name: 'spawn_spot'}"
     ```
+
+{{<note>}}
+The `ROS2ContactSensorComponent`, `ROS2SpawnerComponent`, and `ROS2SpawnComopnent` depend on `gazebo_msg` ROS 2 package that was marked deprecated in ROS 2 _Jazzy_ and will not be available as of ROS 2 _Kilted_. The components are disabled automatically if the package is not available in O3DE 25.05.0.
+{{</note>}}

content/docs/user-guide/interactivity/robotics/creating-robotic-simulation.md

@@ -2,7 +2,7 @@
 linkTitle: Creating a Robotic Simulation
 title: Creating a Robotic Simulation
 description: A step-by-step process on how to create a robotic simulation using the ROS 2 Gem in Open 3D Engine (O3DE).
-weight: 400
+weight: 130
 toc: true
 ---
 
@@ -19,7 +19,7 @@ toc: true
 Once you are set up and familiar with the [example project](/docs/user-guide/interactivity/robotics/overview/#demos), consider the following steps:
 1. [Create a new O3DE project](/docs/welcome-guide/create/)
    1. It is best to use one of [Project Templates](/docs/user-guide/interactivity/robotics/overview/#templates) for robotics to start quickly.
-2. [Registering ROS2 Gem for your Project](/docs/user-guide/project-config/register-gems/) guide.
+2. [Register ROS2 Gem for your Project](/docs/user-guide/project-config/register-gems/)
 3. Create or import Assets for your robots and environment.
    1. You can use formats supported by O3DE.
    2. You can [import your robot from URDF/XACRO](/docs/user-guide/interactivity/robotics/importing-robot).
@@ -28,7 +28,7 @@ Once you are set up and familiar with the [example project](/docs/user-guide/int
 4. Determine which sensors you need to simulate.
    1. Some sensors are already implemented in this Gem.
       1. They might require specialization (implementation specific for particular models).
-      2. You might like to consider tradeoffs between performance and realism in each case.
+      2. You might like to consider trade-offs between performance and realism in each case.
    2. Use `ROS2SensorComponent` as a base class if you are implementing a new sensor. 
 5. Develop necessary sensors and their prefabs.
 7. Develop your scene and simulation scenario, placing Assets and configuring components.

content/docs/user-guide/interactivity/robotics/deploying-simulation.md

@@ -3,7 +3,7 @@ linkTitle: Deploying Simulation
 title: Deploying Simulation
 description: Deploying a headless test tool with O3DE.
 toc: true
-weight: 520
+weight: 140
 ---
 
 ## Overview
@@ -17,22 +17,22 @@ For detailed instructions, please refer to the [Packaging and Release](docs/user
 ## Step-by-Step Project Template Release Example
 
 This is an example of how to build a standalone package that can be run without the need for installing O3DE.
-We will use one of [project templates](/docs/user-guide/interactivity/robotics/overview/#templates) to create a new project that will be build as monohlitic GameLauncher.
+We will use one of [project templates](/docs/user-guide/interactivity/robotics/overview/#templates) to create a new project that will be build as monohlitic _GameLauncher_.
 This is a step-by-step example of a minimal use case. 
 You can use different project names and modify the process (e.g., by bundling assets).
 Note that several prerequisites are required:
 
 - O3DE setup from source
 - [ROS2](https://github.com/o3de/o3de-extras/tree/development/Gems/ROS2) Gem registered
-- [WarehouseSample](https://github.com/o3de/o3de-extras/tree/development/Gems/WarehouseSample) Gem registered
-- [RosRobotSample](https://github.com/o3de/o3de-extras/tree/development/Gems/RosRobotSample) Gem registered
+- [WarehouseAssets](https://github.com/o3de/o3de-extras/tree/development/Gems/WarehousAssets) Gem registered
+- [ROS2SampleRobots](https://github.com/o3de/o3de-extras/tree/development/Gems/ROS2SampleRobots) Gem registered
 
 Ensure that other Gems are enabled if you intend to build other project templates.
 
 ### Creating a Project
 
 Export variables pointing to the necessary paths:
-```bash
+```shell
 export O3DE_HOME=/home/User/github/o3de/
 export O3DE_EXTRAS_HOME=/home/User/github/o3de-extras/
 export PROJECT_NAME=Ros2Project
@@ -43,20 +43,20 @@ Adjust the locations for the variables `O3DE_HOME` and `O3DE_EXTRAS_HOME` to mat
 If you are deploying an existing project, adjust `PROJECT_NAME` to the project's name and `PROJECT_PATH` to the project's location.
 
 Create a project from a template:
-```bash
+```shell
 ${O3DE_HOME}/scripts/o3de.sh create-project --project-path $PROJECT_PATH --template-path ${O3DE_EXTRAS_HOME}/Templates/Ros2ProjectTemplate -f 
 ```
 
 ## Toolset build
 
 Build the toolset to process all necessary assets:
-```bash
+```shell
 cd ${PROJECT_PATH}
 cmake -B build/linux -G "Ninja Multi-Config" -DLY_DISABLE_TEST_MODULES=ON -DCMAKE_EXPORT_COMPILE_COMMANDS=ON -DLY_STRIP_DEBUG_SYMBOLS=ON
-cmake --build build/linux --config profile --target ${PROJECT_NAME} ${PROJECT_NAME}.Assets
+cmake --build build/linux --config profile --target ${PROJECT_NAME} ${PROJECT_NAME}.Assets ${PROJECT_NAME}.GameLauncher
 ```
 
-In the command above, you are instructed to build the `${PROJECT_NAME}.Assets` target, triggering the processing of all assets during the build. In larger projects, it is recommended to run the AssetProcessor directly. Refer to the [Process assets](docs/user-guide/packaging/windows-release-builds/#process-assets) section to learn more. Note that you can re-use your development build.
+In the command above, you are instructed to build the `${PROJECT_NAME}.Assets` target, triggering the processing of all assets during the build. In larger projects, it is recommended to run the _AssetProcessor_ directly. Refer to the [Process assets](docs/user-guide/packaging/windows-release-builds/#process-assets) section to learn more. Note that you can re-use your development build.
 Note that you can re-use your development build. 
 In that case, you need to run Asset Processor and verify if all assets were built (without any errors).
 
@@ -67,14 +67,14 @@ It also excludes large editor-only frameworks like Qt.
 Refer to [Create a project game release layout](docs/user-guide/packaging/windows-release-builds/#create-a-project-game-release-layout) to learn more.
 
 To perform a monolithic build, use the `install` target:
-```bash
+```shell
 cmake -B build/linux_mono -S . -G "Ninja Multi-Config"  -DLY_MONOLITHIC_GAME=1
 cmake --build build/linux_mono --target install --config release
 ```
 
-In the install directory `${PROJECT_PATH}/install/bin/Linux/release/Monolithic/`, you can find a package containing all necessary binaries and archives to run your simulation in the cloud or on another computer.
+In the installation directory `${PROJECT_PATH}/install/bin/Linux/release/Monolithic/`, you can find a package containing all necessary binaries and archives to run your simulation in the cloud or on another computer.
 
-```
+```shell
 # tree ${PROJECT_PATH}/install/bin/Linux/release/Monolithic/
 .
 ├── Cache
@@ -90,14 +90,14 @@ In the install directory `${PROJECT_PATH}/install/bin/Linux/release/Monolithic/`
 # Headless simulation
 
 Often simulation needs to be run headless (e.g., as a part of CI/CD pipeline).
-This can be achieved by disabling RHI in the GameLauncher. 
+This can be achieved by disabling RHI in the _GameLauncher_. 
 To run headless, start with `-NullRenderer -rhi=null`.
-```bash 
+```shell 
 ./Ros2Project.GameLauncher -NullRenderer -rhi=null
 ```
 The above command should work for environments that have no GPU. 
 If your simulation relies on the ROS 2 Camera component, you will need RHI. 
 In such cases, it can be simulated with `console-mode` switch:
-```bash
+```shell
 ./Ros2Project.GameLauncher -console-mode
 ```

content/docs/user-guide/interactivity/robotics/georeference.md

@@ -3,15 +3,12 @@ linkTitle: Georeference
 title: Georeference
 description: Applying georeference for O3DE level
 toc: true
-weight: 520
+weight: 300
 ---
 
 ## Overview
 
-Robotics simulations often need to work with geographical locations, 
-in order to simulate behavior and data streams of robots that use global positioning devices and geo-reference APIs. 
-Georeference Component will allow you to work with such data.
-
+Robotics simulations often need to work with geographical locations, in order to simulate behavior and data streams of robots that use global positioning devices and geo-reference APIs. Georeference Component will allow you to work with such data.
 
 ### How to setup a simulated geographical location
 
@@ -27,7 +24,6 @@ Good candidates for such a place include characteristic locations such as inters
 
 Now, all that is left is to set this entity in configuration of **Georeference Editor Level Component** alongside WGS-84 coordinates.
 
-
 ## Usage
 
 With the Georeference Editor Level Component setup correctly, you can use:
@@ -41,7 +37,7 @@ This texture was imported into O3DE and applied as texture to a plane primitive
 The next plane was scaled according to the scale and resolution of the downloaded map.
 
 Next in knowing the location (for example city hall) was placed ENU entity with WGS-84 coordinates:
-```
+```code
 50.06175556 North 
 19.93727500 East 
 ```
@@ -54,7 +50,7 @@ Georeference Editor Level Component can be added only to the level entity.
 
 
 The used ortophotomap has following geographical directions:
-```
+```code
 North - up
 East - left
 ```

content/docs/user-guide/interactivity/robotics/grippers.md

@@ -3,13 +3,13 @@ linkTitle: Grippers
 title: Grippers
 description: Simulating robotic grippers with ROS 2 Gem Open 3D Engine (O3DE).
 toc: true
-weight: 520
+weight: 220
 ---
 
 ## Overview
 
 Grippers are one of the most widely used effectors in robotic manipulation. 
-The simulated robotic grippers are controlled by ROS 2 action servers that allow the user to track the current status of the gipping operation.
+The simulated robotic grippers are controlled by ROS 2 action servers that allow the user to track the current status of the gripping operation.
 The API to control the gripper through an action server is available in [control_msgs](https://github.com/ros-controls/control_msgs/blob/master/control_msgs/action/GripperCommand.action).
 ### Supported features
 

content/docs/user-guide/interactivity/robotics/importing-robot.md

@@ -2,7 +2,7 @@
 linkTitle: Importing robot
 title: Importing robots
 description: Importing robots from description file with ROS 2 Gem in Open 3D Engine (O3DE).
-weight: 450
+weight: 400
 toc: true
 ---
 

content/docs/user-guide/interactivity/robotics/importing-robot/importing-turtlebot4.md

@@ -2,7 +2,7 @@
 linkTitle: Importing Turtlebot 4
 title: Importing Turtlebot 4
 description: Robot Importer example - importing Turtlebot 4
-weight: 100
+weight: 460
 ---
 
 ## Introduction

content/docs/user-guide/interactivity/robotics/importing-robot/sdformat-plugins.md

@@ -2,7 +2,7 @@
 linkTitle: SDFormat plugins
 title: SDFormat plugins
 description: Detailed description of support of SDFormat plugins in Robot Importer.
-weight: 100
+weight: 470
 ---
 
 ## Introduction

content/docs/user-guide/interactivity/robotics/importing-robot/sdformat-sensors.md

@@ -2,7 +2,7 @@
 linkTitle: SDFormat sensors
 title: SDFormat sensors
 description: Detailed description of support of SDFormat sensors in Robot Importer.
-weight: 100
+weight: 480
 ---
 
 ## Introduction