ROS 2 Gem

The ROS 2 Gem uses the Robot Operating System (ROS) to enable robotic simulation in Open 3D Engine (O3DE). The ROS 2 Gem has the following features:

• Direct and natural support of the ROS 2 ecosystem:
  • Does not use any bridges to communicate between ROS and O3DE. A simulation node will function as any other ROS 2 node.
    • Enables you to directly include ROS 2 headers and write ROS 2 code in O3DE.
    • Having no bridge improves communication performance.
  • Provides an easy way to include ROS 2 dependencies.
• Sensors:
  • Are abstracted through the Sensor Component, which takes care of the publishing of sensor data and common settings such as frequency.
  • Features several types of configurable, extendable sensors such as Lidar, Camera (including Depth channel), IMU, and GNSS.
• Utilities for automated handling of:
  • Simulation time: - publishing /clock, with support for non-real time.
  • Computing and publishing of transformation frames (/tf, /tf_static).
  • Namespaces- allowing multi-robot simulation in O3DE by default!
  • Validation for topic and namespace names.
  • Dynamic spawning of robots through ROS 2 services.
• Robot Control Component:
  • Provides a quick-to-use method of controlling your robot.
  • Includes support for Twist and AckermannDrive message interfaces.
• Vehicle dynamics:
  • Ackermann Steering subscribes to the message of type AckermannDrive .
  • Differential drive subscribes to the message of type Twist .
• URDF/XACRO (experimental).
  • Allows robot imports from the URDF format.

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