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Fixes for ROS2ScriptIntegration #63

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merged 2 commits into from
Sep 17, 2024
Merged

Fixes for ROS2ScriptIntegration #63

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bed3ac8
Fix cmake in ROS2ScriptIntegration
jhanca-robotecai Sep 16, 2024
ed58721
Fix name in string message
jhanca-robotecai Sep 16, 2024
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2 changes: 1 addition & 1 deletion Gems/ROS2ScriptIntegration/Code/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -129,7 +129,7 @@ if(PAL_TRAIT_BUILD_HOST_TOOLS)
BUILD_DEPENDENCIES
PUBLIC
AZ::AzToolsFramework
$<TARGET_OBJECTS:Gem::${gem_name}.Private.Object>
Gem::${gem_name}.Private.Object
Gem::ROS2.Static
)

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2 changes: 1 addition & 1 deletion Gems/ROS2ScriptIntegration/Code/Include/ROS2ScriptIntegration/ROS2ScriptPublisherBus.h
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Expand Up @@ -25,7 +25,7 @@ namespace ROS2ScriptIntegration
AZ_RTTI(PublisherRequests, "{b8356874-f7ba-4436-8d98-a342d7c720d9}");
static constexpr AZ::EBusAddressPolicy AddressPolicy = AZ::EBusAddressPolicy::Single;
static constexpr AZ::EBusHandlerPolicy HandlerPolicy = AZ::EBusHandlerPolicy::Single;
virtual void PublishStdMsgsString(const AZStd::string& topicName, const AZStd::string& value) = 0;
virtual void PublishStdMsgString(const AZStd::string& topicName, const AZStd::string& value) = 0;
virtual void PublishStdMsgEmpty(const AZStd::string& topicName) = 0;
virtual void PublishStdMsgUInt32(const AZStd::string& topicName, const uint32_t value) = 0;
virtual void PublishStdMsgInt32(const AZStd::string& topicName, const int32_t value) = 0;
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2 changes: 1 addition & 1 deletion Gems/ROS2ScriptIntegration/Code/Source/Clients/PublisherSystemComponent.cpp
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Expand Up @@ -86,7 +86,7 @@ namespace ROS2ScriptIntegration
}

// Publishers overrides ...
void PublisherSystemComponent::PublishStdMsgsString(const AZStd::string& topicName, const AZStd::string& value)
void PublisherSystemComponent::PublishStdMsgString(const AZStd::string& topicName, const AZStd::string& value)
{
std_msgs::msg::String message;
message.data = std::string(value.c_str());
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2 changes: 1 addition & 1 deletion Gems/ROS2ScriptIntegration/Code/Source/Clients/PublisherSystemComponent.h
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Expand Up @@ -38,7 +38,7 @@ namespace ROS2ScriptIntegration

protected:
// ROS2ScriptIntegrationRequestBus::Handler overrides ...
void PublishStdMsgsString(const AZStd::string& topicName, const AZStd::string& value) override;
void PublishStdMsgString(const AZStd::string& topicName, const AZStd::string& value) override;

void PublishStdMsgEmpty(const AZStd::string& topicName) override;

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3 changes: 1 addition & 2 deletions Gems/ROS2ScriptIntegration/Code/Source/Clients/ROS2ScriptPublisherBus.cpp
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Expand Up @@ -14,8 +14,7 @@ namespace ROS2ScriptIntegration
->Attribute(AZ::Script::Attributes::Category, "ROS2")
->Attribute(AZ::Script::Attributes::Scope, AZ::Script::Attributes::ScopeFlags::Common)
->Attribute(AZ::Script::Attributes::Module, "ROS2")
->Event(
"PublishStdMsgsString", &PublisherRequestBus::Events::PublishStdMsgsString, { { { "Topic", "" }, { "Value", "" } } })
->Event("PublishStdMsgString", &PublisherRequestBus::Events::PublishStdMsgString, { { { "Topic", "" }, { "Value", "" } } })
->Event("PublishStdMsgEmpty", &PublisherRequestBus::Events::PublishStdMsgEmpty, { { { "Topic", "" } } })
->Event("PublishStdMsgUInt32", &PublisherRequestBus::Events::PublishStdMsgUInt32, { { { "Topic", "" }, { "Value", "" } } })
->Event("PublishStdMsgInt32", &PublisherRequestBus::Events::PublishStdMsgInt32, { { { "Topic", "" }, { "Value", "" } } })
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6 changes: 3 additions & 3 deletions Gems/ROS2ScriptIntegration/README.md
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Expand Up @@ -24,7 +24,7 @@ Let us write a simple publisher using Script Canvas.
The "OnGraphStart" node is called on the component being activated.
It activates a "Heart Beat" node.
The "Heart Beat" node is configured to issue a pulse every 100 milliseconds.
Finally, pulse cause the publication message by node `PublishStdMsgsString`.
Finally, pulse cause the publication message by node `PublishStdMsgString`.

**Note** that the publisher is initialized on the first pulse.
To see your messages, start the simulation and type in the terminal:
Expand All @@ -37,9 +37,9 @@ You should see new messages arriving with a frequency of 10 Hertz.

The message can be published from LUA scripting language using a single call:
```lua
PublisherRequestBus.Broadcast.PublishStdMsgsString("/hello", "Hello world from Lua")
PublisherRequestBus.Broadcast.PublishStdMsgString("/hello", "Hello world from Lua")
```
in which the first parameter is a topic name and the rest of the parameters form the message (only one string in `PublishStdMsgsString` method).
in which the first parameter is a topic name and the rest of the parameters form the message (only one string in `PublishStdMsgString` method).

## Subscriber

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