fixed HeadIKUnit

robot model was not fully initialized via a
`RemoteRobot::createLocalClone()` call and the GazeIK solver was not
able to find a solution.

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -15,9 +15,9 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @package    
- * @author     
- * @date       
+ * @package
+ * @author
+ * @date
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
@@ -70,7 +70,8 @@ namespace armarx
 
 
         //remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
-        localRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);
+        localRobot = RemoteRobot::createLocalCloneFromFile(robotStateComponentPrx, VirtualRobot::RobotIO::RobotDescription::eFull);
+        //        localRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);
 
 
         headIKUnitListener = getTopic<armarx::HeadIKUnitListenerPrx>(getProperty<std::string>("HeadIKUnitTopicName").getValue());
@@ -137,7 +138,7 @@ namespace armarx
         ScopedLock lock(accessMutex);
 
         this->robotNodeSetNames = armarx::Split(robotNodeSetName, ",");
-        for (auto& setName : robotNodeSetNames)
+        for (auto & setName : robotNodeSetNames)
         {
             boost::trim(setName);
         }
@@ -298,6 +299,7 @@ namespace armarx
             for (auto robotNodeSetName : robotNodeSetNames)
             {
                 RemoteRobot::synchronizeLocalClone(localRobot, robotStateComponentPrx);
+
                 kinematicChain = localRobot->getRobotNodeSet(robotNodeSetName);
 
                 VirtualRobot::RobotNodePrismaticPtr virtualJoint;
@@ -311,7 +313,7 @@ namespace armarx
 
                 }
                 // set other not-used joints to 0
-                for (auto& nodeName : possiblyInvolvedJointNames)
+                for (auto & nodeName : possiblyInvolvedJointNames)
                 {
                     if (!kinematicChain->hasRobotNode(nodeName))
                     {
@@ -325,7 +327,7 @@ namespace armarx
                 VirtualRobot::GazeIK ikSolver(kinematicChain, virtualJoint);
                 ikSolver.enableJointLimitAvoidance(true);
                 ikSolver.setup(10, 30, 20);
-                //            ikSolver.setVerbose(true);
+                //ikSolver.setVerbose(true);
 
                 globalPos = targetPosition->toGlobal(localRobot);
                 ARMARX_DEBUG << "Calculating IK for target position " << globalPos->output();
@@ -352,8 +354,6 @@ namespace armarx
                 }
                 else
                 {
-
-
                     foundSolution = true;
                     selectedRobotNodeSetName = robotNodeSetName;
                     break;