Adjusted to review

Signed-off-by: Michał Pełka <[email protected]>
RobotecAI · Mar 13, 2023 · c787906 · c787906
1 parent 3000953
commit c787906
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Showing 4 changed files with 10 additions and 10 deletions.
diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp b/Gems/ROS2/Code/Source/Camera/CameraSensor.cpp
@@ -117,9 +117,8 @@ namespace ROS2
         m_view->SetViewToClipMatrix(m_cameraSensorDescription.m_viewToClipMatrix);
         m_scene = AZ::RPI::RPISystemInterface::Get()->GetSceneByName(AZ::Name("Main"));
 
-        m_pipelineName = m_cameraSensorDescription.m_cameraName + "Pipeline" + GetPipelineTypeName() +
-            m_cameraSensorDescription.m_entityId.ToString();
-
+        m_pipelineName = AZStd::string::format("%sPipeline%s%s",m_cameraSensorDescription.m_cameraName.c_str(), GetPipelineTypeName().c_str(),
+                                               m_cameraSensorDescription.m_entityId.ToString().c_str() );
         AZ::RPI::RenderPipelineDescriptor pipelineDesc;
         pipelineDesc.m_mainViewTagName = "MainCamera";
         pipelineDesc.m_name = m_pipelineName;
@@ -218,11 +217,12 @@ namespace ROS2
     }
 
     void CameraSensor::RequestMessagePublication(
-        AZStd::vector<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
+        AZStd::span<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
         const AZ::Transform& cameraPose,
         const std_msgs::msg::Header& header)
     {
-        if(!publishers.empty()){
+        if (!publishers.empty())
+        {
             RequestMessagePublication(publishers.front(), cameraPose, header);
         }
     }
@@ -279,7 +279,7 @@ namespace ROS2
     }
 
     void CameraRGBDSensor::RequestMessagePublication(
-        AZStd::vector<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
+        AZStd::span<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
         const AZ::Transform& cameraPose,
         const std_msgs::msg::Header& header)
     {

diff --git a/Gems/ROS2/Code/Source/Camera/CameraSensor.h b/Gems/ROS2/Code/Source/Camera/CameraSensor.h
@@ -8,6 +8,7 @@
 #pragma once
 
 #include <Atom/Feature/Utils/FrameCaptureBus.h>
+#include <AzCore/std/containers/span.h>
 #include <ROS2/ROS2GemUtilities.h>
 #include <chrono>
 #include <rclcpp/publisher.hpp>
@@ -62,7 +63,7 @@ namespace ROS2
         //! @param header - header with filled message information (frame, timestamp, seq)
         //! @param cameraPose - current camera pose from which the rendering should take place
         virtual void RequestMessagePublication(
-            AZStd::vector<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
+            AZStd::span<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
             const AZ::Transform& cameraPose,
             const std_msgs::msg::Header& header);
 
@@ -144,7 +145,7 @@ namespace ROS2
 
         // CameraSensor overrides
         void RequestMessagePublication(
-            AZStd::vector<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
+            AZStd::span<std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::Image>>> publishers,
             const AZ::Transform& cameraPose,
             const std_msgs::msg::Header& header) override;
 

diff --git a/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorComponent.cpp
@@ -147,6 +147,5 @@ namespace ROS2
             return cameraName;
         }
         return AZStd::string{};
-
     }
 } // namespace ROS2
diff --git a/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.h b/Gems/ROS2/Code/Source/Camera/ROS2CameraSensorEditorComponent.h
@@ -39,7 +39,7 @@ namespace ROS2
         void Activate() override;
         void Deactivate() override;
 
-        //! AzToolsFramework::Components::EditorComponentBase override
+        // AzToolsFramework::Components::EditorComponentBase override
         void BuildGameEntity(AZ::Entity* gameEntity) override;
 
     private: