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ROS2Sensors/GNSS Suppport GNSS Rotation (reopen) - #1108
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…evision: component publishes one or more topics (configurable): NavSatFix, GPSFix, QuaternionStamped
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What does this PR do?
This PR extends ROS2GNSSSensorComponent and provides GNSS with orientation support as discussed in #1083 and @mwopfner
This PR replaces #1107 which has been force-closed while bringing the changes on top of the development branch. Sorry @jhanca-robotecai
jhanca-robotecai for the inconvenience.
The original implementation publishes NavSatFix topics only.
The updated implementation is configurable and publishes one or more of the following topics: NavSatFix (default), GPSFix, QuaternionStamped.
With topics GPSFix and QuaternionStamped orientation will be included, too.
Implementation detail:
The component retrieves orientation from a Dynamic Rigid Body.
At runtime it will be checked if PhysicsDynamicRigidBodyService is available, otherwise neither GPSFix nor QuaternionStamped will be published.
We chose this approach for backwards compatibility with existing prefabs.
Please let us know if you preferred a different solution.
How was this PR tested?
This PR was tested with tag 2605.0
running a level, spawning a robot and reviewing the published NavSatFix, GPSFix and, QuaternionStamped topics for consistency
Please note that HEAD of development currently does not compile on my PC with O3DE 2605.