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ROS2OdometrySensor crashes O3DE when linked to articulation link #816

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jhanca-robotecai opened this issue Jan 10, 2025 · 0 comments
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kind/bug Categorizes issue or PR as related to a bug. needs-triage Indicates an issue or PR lacks a `triage/foo` label and requires one. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation

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@jhanca-robotecai
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Describe the bug
ROS2OdometrySensorComponent is realized based on PhysX::RigidBodyComponent. When added to the entity, it asks for a service PhysicsDynamicRigidBodyService, but this service is also realized by the PhysX::ArticulationLink. If the latter is chosen, O3DE will crash when game mode starts.

Assets required
ROS2 Gem

Steps to reproduce
Steps to reproduce the behavior:

  1. Add entity to empty level
  2. Add ROS2OdometrySensorComponent to the level, add required ROS2 Frame Component
  3. Add Articulation Link Component
  4. Start game mode
  5. Observe crash

Expected behavior
No crash

Actual behavior
Crash

Screenshots/Video
Screenshot from 2025-01-10 16-31-05

Found in Branch
development
main

Commit ID from o3de/o3de and o3de/o3de-extras repositories
All commits

Desktop/Device (please complete the following information):
PC with Ubuntu Linux

@jhanca-robotecai jhanca-robotecai added kind/bug Categorizes issue or PR as related to a bug. needs-triage Indicates an issue or PR lacks a `triage/foo` label and requires one. sig/simulation Categorizes an issue or PR as relevant to SIG Simulation labels Jan 10, 2025
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Labels
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