ROS2 frame tests

Ros2FrameTest/FRAME_ADDING_COMPONENT/FRAME_ADDING_COMPONENT_TESTCASE.md

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+## Test Goal 
+
+Check if the frame is added to the tf tree.
+
+## Test Perquisites
+
+- Empty default Level
+- ROS2 Gem Activated
+- O3DE Editor running
+
+## Steps
+
+- Create entity
+
+![add entity](asset/add-entity.png)
+
+- Check if there are no frames in the tf tree `ros2 run tf2_tools view_frames` This will create a file `*.pdf` in the current directory it should contain the following frames:
+![tf tree empty](asset/frames-no-tf.png)
+
+- Add the frame component to the entity
+
+![add component](asset/add-ros2-frame.png)
+
+- The component should look like this:
+
+![result](asset/resulting.png)
+
+- Check if the frame is added to the tf tree `ros2 run tf2_tools view_frames` This will create a file `*.pdf` in the current directory it should contain the following frames:
+
+![tf tree](asset/frames-tf-present.png) 

Ros2FrameTest/FRAME_DYNAMIC_TRANSFORMS_PUBLISHED/FRAME_DYNAMIC_TRANSFORMS_PUBLISHED_TESTCASE.md

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+## Test Goal
+
+Check when the frame is added to the tf tree the transform is published
+
+## Test Perquisites
+
+- Empty default Level
+- ROS2 Gem Activated
+- O3DE Editor running 
+
+## Steps 
+
+- Execute preparation script in o3de console `pyRunFile Ros2FrameTest/FRAME_DYNAMIC_TRANSFORMS_PUBLISHED/tools/prepare_test.py`
+
+- Run the game (`ctrl + G`)
+
+- Check if the frame is added to the tf tree `ros2 run tf2_tools view_frames` This will create a file `*.pdf` in the current directory it should contain the following frames: 
+
+![tf tree](asset/frames.png)
+
+- Check if the transform is published `ros2 topic echo /tf` This should print the transform between the two frames. Move the camera (WASD) and check if the transform is updated.
+
+## Expected Result
+
+The frame is added to the tf tree and the transform is published

Ros2FrameTest/FRAME_DYNAMIC_TRANSFORMS_PUBLISHED/tools/prepare_test.py

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+import azlmbr.legacy.general as general
+import azlmbr.bus as bus
+import azlmbr.entity as entity
+import azlmbr.editor as editor
+import azlmbr.entity
+import azlmbr.object
+from azlmbr.entity import EntityId
+from azlmbr.entity import EntityType
+
+import subprocess
+DEGREE_RADIAN_FACTOR = 0.0174533
+
+def GetDefaultCamera():
+    search_filter = entity.SearchFilter()
+    search_filter.names = ["Camera"]
+    entityIdList = azlmbr.entity.SearchBus(azlmbr.bus.Broadcast, 'SearchEntities', search_filter)
+    assert len(entityIdList) == 1
+    return entityIdList[0]
+
+
+
+if __name__ == "__main__":
+
+    typeNameList = ["ROS2 Camera Sensor", "ROS2 Frame"]
+    typeIdsList = editor.EditorComponentAPIBus(bus.Broadcast, 'FindComponentTypeIdsByEntityType', typeNameList, entity.EntityType().Game)
+
+    ROS2CameraSensorTypeId = typeIdsList[0]
+
+    defaultCameraEntity = GetDefaultCamera()
+
+    rosCameraEntityId = azlmbr.editor.ToolsApplicationRequestBus(azlmbr.bus.Broadcast, 'CreateNewEntity', defaultCameraEntity)
+    editor.EditorEntityAPIBus(bus.Event, 'SetName', rosCameraEntityId, "FooCameraTest")
+
+
+    azlmbr.components.TransformBus(azlmbr.bus.Event, "SetLocalRotation", rosCameraEntityId,  azlmbr.math.Vector3(-DEGREE_RADIAN_FACTOR*90.0, 0.0, 0.0))
+
+    outcomeROS2Camera = editor.EditorComponentAPIBus(bus.Broadcast, 'AddComponentsOfType', rosCameraEntityId, typeIdsList )
+    assert outcomeROS2Camera.IsSuccess()
+    cameraComponentOutcome = azlmbr.editor.EditorComponentAPIBus(bus.Broadcast, 'GetComponentOfType', rosCameraEntityId, ROS2CameraSensorTypeId)
+    assert cameraComponentOutcome.IsSuccess()
+    cameraComponentId = cameraComponentOutcome.GetValue()
+
+    ## ROS2 Checking if the transform is correct
+
+

Ros2FrameTest/FRAME_HIERARCHY/FRAME_HIERARCHY_TESTCASE.md

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+## Test Goal
+
+Check when the frame is added to the tf tree the transform is published
+
+## Test Perquisites
+
+- Empty default Level
+- ROS2 Gem Activated
+- O3DE Editor running 
+
+## Steps 
+
+- Create entity
+
+- Create second entity (child of the first entity)
+
+- Add the frame component to the both entities, the hierarchy should look like this:
+
+![entities](asset/entities.png)
+
+- Set the name to "sensor_frame2", should look like this:
+
+![entity 2 frame name](asset/entity2-frame.png)
+
+- Run the game (`ctrl + G`) 
+
+- Check if the frame is added to the tf tree `ros2 run tf2_tools view_frames` This will create a file `*.pdf` in the current directory it should contain the following frames:
+
+![tf tree](asset/frames-hierarchy.png)

Ros2FrameTest/FRAME_NAMESPACE/FRAME_NAMESPACE_TESTCASE.md

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+## Test Goal
+
+Check if the changing of the namespace in the frame component is reflected in the tf tree.
+
+## Test Perquisites
+
+- Empty default Level
+- ROS2 Gem Activated
+- O3DE Editor running
+
+## Steps
+
+- Create entity
+
+- Add the frame component to the entity the tf frames without changing the namespace.
+
+- Run the game (`ctrl + G`)
+
+- Check the frames by running `ros2 run tf2_tools view_frames`. The frame component should look like this:
+
+![frames without namespace](asset/frames-without-namespace.png)
+
+- Stop the game (`Esc Esc`) and add the namespace `test_namespace` to the frame component.
+
+![add namespace](asset/add-custom-namespace.png)
+
+- Run the game (`ctrl + G`)
+
+- Check the frames by running `ros2 run tf2_tools view_frames`. The frame component should look like this:
+
+![frames with namespace](asset/frames-with-namespace.png)

Ros2FrameTest/FRAME_PREFAB/FRAME_PREFAB_TESTCASE.md

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+## Test Goal
+
+Check if the prefab with defined tf tree is loaded correctly and the transforms are published.
+
+## Test Perquisites
+
+- Empty default Level
+- ROS2 Gem Activated
+- O3DE Editor running
+
+## Steps
+
+- Add the prefab to the level by right clicking on the level then `Instantiate Prefab` and select the prefab `ROSbot.prefab`
+
+![add prefab](asset/add-prefab.png)
+
+- Run the game (`ctrl + G`)
+
+- Check the tf tree `ros2 run tf2_tools view_frames` This will create a file `*.pdf` in the current directory it should contain the following frames:
+
+![tf tree](asset/frames.png)
+
+## Expected Result
+
+The prefab is loaded and the tf tree is published.

Ros2FrameTest/FRAME_STATIC_TRANSFORMS_PUBLISHED/FRAME_STATIC_TRANSFORMS_PUBLISHED_TESTCASE.md

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+## Test Goal
+
+Check if the prefab with defined tf tree is loaded correctly and the transforms are published.
+
+## Test Perquisites
+
+- Empty default Level
+- ROS2 Gem Activated
+- O3DE Editor running
+
+## Steps
+
+- Add the prefab to the level by right clicking on the level then `Instantiate Prefab` and select the prefab `ROSbot.prefab`
+
+![add prefab](asset/add-prefab.png)
+
+- Run the script for checking the `tf_static` by running the command `python3 tools/check_tf_static.py`  
+
+- Run the game (`ctrl + G`)
+
+- Check the `tf_static` by running the command `ros2 topic echo /tf_static` This should print the transform between the two frames. Move the camera (WASD) and check if the transform is updated.
+
+## Expected Result
+
+The prefab is loaded and transforms are published. No duplicate in parent-child relationship in the tf tree.

Ros2FrameTest/FRAME_STATIC_TRANSFORMS_PUBLISHED/tools/check_tf_static.py

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+import rclpy
+from rclpy.node import Node
+
+from tf2_msgs.msg import TFMessage
+
+
+class TfStaticSubscriber(Node):
+
+    def __init__(self):
+        super().__init__('tf_static_subscriber')
+        self.subscription = self.create_subscription(
+            TFMessage,
+            'tf_static',
+            self.callback,
+            10)
+        self.subscription
+
+    def callback(self, msg):
+        for transform in msg.transforms:
+            self.get_logger().info('Child frame: "%s"' % transform.child_frame_id)
+            self.get_logger().info('Parent frame: "%s"' % transform.header.frame_id)
+            if (transform.child_frame_id == transform.header.frame_id):
+                self.get_logger().error('Child frame and parent frame are the same!')
+
+
+def main(args=None):
+    rclpy.init(args=args)
+
+    tf_static_subscriber = TfStaticSubscriber()
+
+    rclpy.spin(tf_static_subscriber)
+
+    tf_static_subscriber.destroy_node()
+    rclpy.shutdown()
+
+
+if __name__ == '__main__':
+    main()