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Registry Settings for Robotics Gems

Overview

The O3DE registry setting allows you to configure multiple aspect of engine and gem behavior. More on registry settings can be found in the Settings Registry document.

This document lists the available registry settings for the ROS 2 Gem and other robotics-related Gems in O3DE.

ROS 2 Gem Registry Settings

The following table lists the available registry settings for the ROS 2 Gem:

Registry PathDescriptionDefault Value
/Amazon/Physics/EnableReducedCoordinateArticulationsEnables reduced coordinate articulations in the PhysX 5 gem.true
/O3DE/InputSystem/Mouse/CaptureMouseCursorDisables capturing the mouse cursor by O3DE’s input system.false
/O3DE/ROS2/Camera/AllowPipelineModificationAllows other Gems to add theirs feature processors to the ROS 2 camera pipeline.false
/O3DE/ROS2/PublishClockEnables publishing of simulation clock to ROS 2.true
/O3DE/ROS2/ClockTypeSimulation clock type. Refer to Simulation Timesimulation
/O3DE/ROS2/SteadyClock/ResetTimestampOnLevelReloadResets simulation_time to zero on level reload when using simulation clock.true
/O3DE/ROS2/xacro_executable_pathPath to the xacro executable used for processing xacro files.xacro
/O3DE/ROS2/GlobalFrameNameThe name of the global frame used in the ROS 2 Gem. More in ROS 2 Frame Component.odom
/SimulationInterfaces/PrintStateNameInGuiEnables printing the current state name of the Simulation Interfaces state machine in the GUI.true
/SimulationInterfaces/StartInStoppedStateStarts the Simulation Interfaces state machine in the Stopped state.false
/SimulationInterfaces/KeyboardTransitions/StoppedToPlayingKeyboard binding to change simulation state from Stopped to Playing.keyboard_key_alphanumeric_R
/SimulationInterfaces/KeyboardTransitions/PausedToPlayingKeyboard binding to change simulation state from Paused to Playing.keyboard_key_alphanumeric_R
/SimulationInterfaces/KeyboardTransitions/PlayingToPausedKeyboard binding to change simulation state from Playing to Paused.keyboard_key_alphanumeric_P
/SimulationInterfaces/KeyboardTransitions/SimulatorFrameThe ROS 2 frame that is in Simulation Interface gem.world
Note:
Setting /O3DE/ROS2/Camera/AllowPipelineModification to true allows other Gems to modify the ROS 2 camera pipeline by adding their own feature processors. It is useful if you want to extend the camera functionality with additional processing steps (e.g. global illumination, stars, weather). However, enabling this setting may lead to unexpected behavior if the added feature processors are not compatible with the ROS 2 camera pipeline.