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.
    • Custom messages, services, and actions just work!
  • Provides an easy way to include ROS 2 dependencies.
• Sensors:
  • Are abstracted through the Sensor Component Base, which takes care of the publishing of sensor data and common settings such as frequency.
• 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.

This Gem is a base for any ROS 2 project. It provides the necessary components and functionality to build robotic simulations effectively. It can be extended with additional features available in ROS 2 Sensors Gem and ROS 2 Controllers Gem.

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