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.
    • Features several types of configurable, extendable sensors such as Lidar (3D and 2D), Camera (including Depth channel), IMU, Odometry, GNSS, and Contact.
  • 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.
  • Manipulation and Grippers:
    • Support for robot arms and other joint systems.
    • Configurable components, easy to integrate with MoveIt2.
    • Finger and vacuum gripper.
  • Vehicle dynamics:
    • Ackermann Steering subscribes to the message of type AckermannDrive .
    • Differential drive subscribes to the message of type Twist .
  • Robot Importer
    • Allows robot imports from the URDF, SDFormat and XACRO.
    • Supports sensor plugins, creating sensor components in O3DE on import.
Robotics in O3DELearn about robotics in O3DE, including Gems, Templates and demos to help you get started.
ROS 2 Gem Concepts and StructureOverview of the concepts and structure of the ROS 2 Gem, including an overview of its components
ROS 2 Gem API referenceGenerated documentation for ROS 2 Gem’s API reference.