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Prepare humanworker for 2510 #25

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f7bcf0f
Prepare humanworker for 2510
arturkamieniecki Sep 9, 2025
4fc94fe
Update api changes
arturkamieniecki Sep 23, 2025
9249b7b
Bump gem.json version
arturkamieniecki Sep 23, 2025
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Update readme
arturkamieniecki Sep 23, 2025
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9 changes: 4 additions & 5 deletions Code/Source/HumanWorker/NpcNavigatorComponent.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -23,8 +23,6 @@
#include <LmbrCentral/Shape/ShapeComponentBus.h>
#include <ROS2/Frame/ROS2FrameComponent.h>
#include <ROS2/ROS2Bus.h>
#include <ROS2/ROS2GemUtilities.h>
#include <ROS2/Utilities/ROS2Names.h>
#include <RecastNavigation/DetourNavigationBus.h>
#include <RecastNavigation/RecastNavigationMeshBus.h>

Expand Down Expand Up @@ -142,8 +140,7 @@ namespace HumanWorker
}
});

m_publisher =
CreatePublisher(ROS2::Utils::GetGameOrEditorComponent<ROS2::ROS2FrameComponent>(GetEntity()), m_twistTopicConfiguration);
m_publisher = CreatePublisher(GetEntity()->FindComponent<ROS2::ROS2FrameComponent>(), m_twistTopicConfiguration);

AZ::TickBus::Handler::BusConnect();

Expand Down Expand Up @@ -260,7 +257,9 @@ namespace HumanWorker
ROS2::ROS2FrameComponent* frame, const ROS2::TopicConfiguration& topicConfiguration)
{
auto ros2Node = ROS2::ROS2Interface::Get()->GetNode();
const auto& topicName = ROS2::ROS2Names::GetNamespacedName(frame->GetNamespace(), topicConfiguration.m_topic);
AZStd::string topicName = "";
ROS2::ROS2NamesRequestBus::BroadcastResult(
topicName, &ROS2::ROS2NamesRequests::GetNamespacedName, frame->GetNamespace(), topicConfiguration.m_topic);
const auto& qos = topicConfiguration.GetQoS();
return ros2Node->create_publisher<geometry_msgs::msg::Twist>(topicName.data(), qos);
}
Expand Down
17 changes: 13 additions & 4 deletions Code/Source/HumanWorker/NpcPoseNavigatorComponent.cpp
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Expand Up @@ -19,9 +19,7 @@
#include <AzCore/std/parallel/mutex.h>
#include <ROS2/Frame/ROS2FrameComponent.h>
#include <ROS2/ROS2Bus.h>
#include <ROS2/ROS2GemUtilities.h>
#include <ROS2/Utilities/ROS2Conversions.h>
#include <ROS2/Utilities/ROS2Names.h>

namespace HumanWorker
{
Expand Down Expand Up @@ -73,9 +71,20 @@ namespace HumanWorker
}

const auto* ros2FrameComponent = m_entity->FindComponent<ROS2::ROS2FrameComponent>();
auto namespacedTopicName = ROS2::ROS2Names::GetNamespacedName(ros2FrameComponent->GetNamespace(), m_poseTopicConfiguration.m_topic);
AZStd::string namespacedTopicName = "";
ROS2::ROS2NamesRequestBus::BroadcastResult(
namespacedTopicName,
&ROS2::ROS2NamesRequests::GetNamespacedName,
ros2FrameComponent->GetNamespace(),
m_poseTopicConfiguration.m_topic);

if (namespacedTopicName.empty())
{
AZ_Error("NpcPoseNavigatorComponent", false, "Failed to get namespaced topic name.");
return;
}

const AZStd::string odomFrame = ros2FrameComponent->GetGlobalFrameName();
const AZStd::string odomFrame = ros2FrameComponent->GetGlobalFrameID();

m_tfBuffer = std::make_unique<tf2_ros::Buffer>(ros2Node->get_clock());
m_tfListener = std::make_unique<tf2_ros::TransformListener>(*m_tfBuffer);
Expand Down
7 changes: 6 additions & 1 deletion README.md
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Expand Up @@ -39,6 +39,11 @@ Human worker objects are delivered as O3DE _prefabs_, containing visual models a
- `DetourNavigation` is a scene descriptor component for finding the path between the `Endpoints` within the navigation mesh.

## Release notes
### 3.0.0 for O3DE 2510.x
Changes compared to `2.0.0`
- Modified to work with `ROS2 Gem >= 4.0.0`
- Added check for invalid recast navigation mesh in `NpcNavigatorComponent`

### 2.0.0 for O3DE 2409.x
Changes compared to `1.1.0`
- Modified to work with `ROS2 Gem >= 3.1.0`
Expand All @@ -64,4 +69,4 @@ This work is licensed under [Apache License, Version 2.0][apache]. You may elect

[apache]: https://opensource.org/licenses/Apache-2.0
[mit]: https://opensource.org/licenses/MIT
[apache_shield]: https://img.shields.io/badge/License-Apache_2.0-blue.svg
[apache_shield]: https://img.shields.io/badge/License-Apache_2.0-blue.svg
4 changes: 2 additions & 2 deletions gem.json
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@@ -1,6 +1,6 @@
{
"gem_name": "HumanWorker",
"version": "2.0.0",
"version": "3.0.0",
"display_name": "HumanWorker",
"license": "Apache-2.0",
"license_url": "https://opensource.org/licenses/Apache-2.0",
Expand All @@ -20,7 +20,7 @@
"icon_path": "preview.png",
"requirements": "This gem requires ROS2, RecastNavigation, and PhysX gems.",
"dependencies": [
"ROS2>=3.1.0",
"ROS2>=4.0.0",
"RecastNavigation",
"PhysX5"
],
Expand Down