Review applied. Iron support. Cleaned unnecessary files

Signed-off-by: Piotr Jaroszek <[email protected]>

Templates/Ros2FleetRobotTemplate/README.md

@@ -15,6 +15,20 @@ If your simulation does not match this and you would like to start with a simple
 Please follow the instructions in [ROS 2 Gem documentation](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/project-configuration/)
 to install all required dependencies and create your project with a template (make sure to use chose this template during the process).
 
+## Spawning robots
+
+The level contains spawn points configured to easily add more Proteus robots through ROS 2 calls.
+
+This is done with the [Spawner Component](https://development--o3deorg.netlify.app/docs/user-guide/interactivity/robotics/concepts-and-components-overview/#spawner).
+There are 4 spawn points already added in the level. You can use them all with the following service calls:
+
+```shell
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint1'}'& \
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint2'}'& \
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint3'}'& \
+ros2 service call /spawn_entity gazebo_msgs/srv/SpawnEntity '{name: 'proteus', xml: 'spawnPoint4'}'
+```
+
 ## Fleet navigation
 
 This template comes with the example fleet navigation ROS 2 package called `o3de_fleet_nav`. You can find a prepared ROS 2 workspace in the `Examples` directory.
@@ -23,6 +37,8 @@ This package contains a modified code from `nav2_bringup` package (https://githu
 
 In this example, a fleet of robots is automatically spawned and each individual robot can be controlled via the Rviz2. An AMCL localization is used for robot localization.
 
+> Notice: Before running an automated fleet example, please make sure your level doesn't contain any robots in it (they will be spawned).
+
 ### Fleet configuration
 
 You can configure the fleet by modifying `Example/ros2_ws/src/o3de_fleet_nav/config/fleet_config.yaml` file:
@@ -60,6 +76,14 @@ You can modify contents of this file to add/remove robots or change their initia
 
 > Notice: You have to rebuild the ROS 2 workspace for changes to update.
 
+### Navigation configuration
+
+You can configure navigation parameters by modifying `Example/ros2_ws/src/o3de_fleet_nav/params/<ROS_DISTRO>/nav2_*.yaml` files.
+
+Please visit the [nav2 configuration guide](https://navigation.ros.org/configuration/index.html) for a detailed description of the navigation parameters.
+
+> Notice: You have to rebuild the ROS 2 workspace for changes to update.
+
 ### Topics and frames
 
 Every spawned robot will have its own namespace for all topics. For the first robot ('robot1' namespace), these will be:
@@ -75,6 +99,22 @@ The first spawned robot also provides the following transformations:
 
 To understand more about transformations, see ROS 2 navigation [documentation](https://navigation.ros.org/setup_guides/transformation/setup_transforms.html).
 
+## Using your robots in the simulation
+
+You can also use your robots in the simulation. To do so, you need to:
+- [import robot](https://docs.o3de.org/docs/user-guide/interactivity/robotics/importing-robot/) from existing URDF file,
+  - or create a robot from scratch in a O3DE editor using ROS 2 gem components (see [Frames](https://docs.o3de.org/docs/user-guide/interactivity/robotics/concepts-and-components-overview/#frames)),
+- make sure that your robot has a 2D scanner attached 
+  - and publishes scans on `scan` topic (see [Sensors](https://docs.o3de.org/docs/user-guide/interactivity/robotics/concepts-and-components-overview/#robot-control)),
+- is controlled via the `cmd_vel` topic (see [Robot Control](https://docs.o3de.org/docs/user-guide/interactivity/robotics/concepts-and-components-overview/#robot-control)).
+
+When you have your robot set up:
+- create a prefab out of it (skip if URDF importer did that for you),
+- load the `Warehouse` level,
+- assign the prefab to the `RobotSpawner` entity inside `ROS2 Spawner Component` with a preferred name.
+
+Then you can alter `fleet_config.yaml` file to change the robot name to the assigned one, and start the fleet simulation with your robot!
+
 ### Building
 
 - Source ROS 2:

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/launch/o3de_bringup_launch.py

@@ -32,6 +32,8 @@ def generate_launch_description():
     o3de_fleet_nav_dir = get_package_share_directory('o3de_fleet_nav')
     o3de_fleet_nav_launch_dir = os.path.join(o3de_fleet_nav_dir, 'launch')
 
+    distro = os.getenv('ROS_DISTRO')
+
     # Create the launch configuration variables
     namespace = LaunchConfiguration('namespace')
     use_namespace = LaunchConfiguration('use_namespace')
@@ -78,7 +80,7 @@ def generate_launch_description():
 
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
-        default_value=os.path.join(o3de_fleet_nav_dir, 'params', 'nav2_multirobot_params.yaml'),
+        default_value=os.path.join(o3de_fleet_nav_dir, 'params', distro, 'nav2_multirobot_params.yaml'),
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_autostart_cmd = DeclareLaunchArgument(

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/launch/o3de_fleet_nav_launch.py

@@ -56,6 +56,8 @@ def generate_launch_description():
     use_rviz = LaunchConfiguration('use_rviz')
     log_settings = LaunchConfiguration('log_settings', default='true')
 
+    distro = os.getenv('ROS_DISTRO')
+
     # Declare the launch arguments
     declare_map_yaml_cmd = DeclareLaunchArgument(
         'map',
@@ -64,7 +66,7 @@ def generate_launch_description():
 
     declare_robot_params_file_cmd = DeclareLaunchArgument(
         'robot_params_file',
-        default_value=os.path.join(o3de_fleet_nav_dir, 'params', 'nav2_multirobot_params.yaml'),
+        default_value=os.path.join(o3de_fleet_nav_dir, 'params', distro, 'nav2_multirobot_params.yaml'),
         description='Full path to the ROS2 parameters file to use for all robot launched nodes')
 
     declare_autostart_cmd = DeclareLaunchArgument(

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/launch/o3de_localization_launch.py

@@ -42,6 +42,8 @@ def generate_launch_description():
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
 
+    distro = os.getenv('ROS_DISTRO')
+
     lifecycle_nodes = ['map_server', 'amcl']
 
     # Create our own temporary YAML files that include substitutions
@@ -74,7 +76,7 @@ def generate_launch_description():
 
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
-        default_value=os.path.join(o3de_fleet_nav_dir, 'params', 'nav2_multirobot_params.yaml'),
+        default_value=os.path.join(o3de_fleet_nav_dir, 'params', distro, 'nav2_multirobot_params.yaml'),
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_autostart_cmd = DeclareLaunchArgument(

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/launch/o3de_nav_launch.py

@@ -18,10 +18,10 @@
 from ament_index_python.packages import get_package_share_directory
 
 from launch import LaunchDescription
-from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
 from launch.conditions import IfCondition
 from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch.substitutions import LaunchConfiguration, PythonExpression
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
 
 
@@ -40,6 +40,8 @@ def generate_launch_description():
     use_composition = LaunchConfiguration('use_composition')
     use_respawn = LaunchConfiguration('use_respawn')
 
+    distro = os.getenv('ROS_DISTRO')
+
     # Launch configuration variables specific to simulation
     rviz_config_file = LaunchConfiguration('rviz_config_file')
     use_rviz = LaunchConfiguration('use_rviz')
@@ -68,7 +70,7 @@ def generate_launch_description():
 
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
-        default_value=os.path.join(o3de_fleet_nav_dir, 'params', 'nav2_params.yaml'),
+        default_value=os.path.join(o3de_fleet_nav_dir, 'params', distro, 'nav2_params.yaml'),
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_autostart_cmd = DeclareLaunchArgument(

Templates/Ros2FleetRobotTemplate/Template/Examples/ros2_ws/src/o3de_fleet_nav/launch/o3de_navigation_launch.py

@@ -41,6 +41,8 @@ def generate_launch_description():
     use_respawn = LaunchConfiguration('use_respawn')
     log_level = LaunchConfiguration('log_level')
 
+    distro = os.getenv('ROS_DISTRO')
+
     lifecycle_nodes = ['controller_server',
                        'smoother_server',
                        'planner_server',
@@ -75,7 +77,7 @@ def generate_launch_description():
 
     declare_params_file_cmd = DeclareLaunchArgument(
         'params_file',
-        default_value=os.path.join(o3de_fleet_nav_dir, 'params', 'nav2_multirobot_params.yaml'),
+        default_value=os.path.join(o3de_fleet_nav_dir, 'params', distro, 'nav2_multirobot_params.yaml'),
         description='Full path to the ROS2 parameters file to use for all launched nodes')
 
     declare_autostart_cmd = DeclareLaunchArgument(