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Sensor visualisation doesn't work with publishing disabled #462

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Antoni-Robotec opened this issue Aug 21, 2023 · 2 comments · Fixed by #724
Closed

Sensor visualisation doesn't work with publishing disabled #462

Antoni-Robotec opened this issue Aug 21, 2023 · 2 comments · Fixed by #724
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good-first-issue Issue ready for a new contributor according to the help wanted guidelines. kind/bug Categorizes issue or PR as related to a bug. priority/minor Lowest priority. Work that may be scheduled sig/simulation Categorizes an issue or PR as relevant to SIG Simulation

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@Antoni-Robotec
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Currently, disabling publishing completely disables data acquisition in the default implementations in ROS2SensorComponent. However, some sensors need this data to draw their visualisations (eg. lidar). This causes the sensors to draw them improperly, or not at all.
I suggest splitting FrequencyTick into 2 separate methods, "acquire data" and "publish". AcquireData would be called either every frame, in the case visualisation in enabled, or every time we need to publish, in the case it's not.
@Antoni-Robotec Antoni-Robotec added kind/bug Categorizes issue or PR as related to a bug. good-first-issue Issue ready for a new contributor according to the help wanted guidelines. priority/minor Lowest priority. Work that may be scheduled labels Aug 21, 2023
@Antoni-Robotec
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Disabling data acquisition alongside publishing also means Script Canvas applications need ROS publishing enabled to work.

@byrcolin byrcolin added the sig/simulation Categorizes an issue or PR as relevant to SIG Simulation label Aug 24, 2023
@Antoni-Robotec
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Antoni-Robotec commented Sep 26, 2023 •
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How sensors work has significantly changed with #482, so some of the comment above is probably no longer relevant, but the issue seems to persist (I retested it with the lidar component).

@c00kiepreferences c00kiepreferences mentioned this issue Jul 8, 2024
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@jhanca-robotecai jhanca-robotecai mentioned this issue Jul 9, 2024
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Lidar: Fixed data acquisition while publishing disabled RobotecAI/o3de-extras
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@byrcolin @Antoni-Robotec