extensions for multi robot setup

source/RobotAPI/components/RobotState/RobotStateComponent.cpp

@@ -116,7 +116,7 @@ namespace armarx
         {
             ARMARX_VERBOSE << "Node: " << node->getName() << endl;
         }
-        usingTopic(robotNodeSetName + "State");
+        usingTopic(getProperty<std::string>("TopicPrefix").getValue() + robotNodeSetName + "State");
 
         try
         {

source/RobotAPI/components/RobotState/RobotStateComponent.h

@@ -57,6 +57,8 @@ namespace armarx
             defineOptionalProperty<std::string>("RobotStateReportingTopic", "RobotStateUpdates", "Name of the topic on which updates of the robot state are reported.");
             defineOptionalProperty<int>("HistoryLength", 10000, "Number of entries in the robot state history");
             defineOptionalProperty<float>("RobotModelScaling", 1.0f, "Scaling of the robot model");
+            defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
+
         }
     };
 

source/RobotAPI/components/units/KinematicUnit.cpp

@@ -99,7 +99,7 @@ void KinematicUnit::onInitComponent()
     robotNodes = robotNodeSetPtr->getAllRobotNodes();
 
     // component dependencies
-    listenerName = robotNodeSetName + "State";
+    listenerName = getProperty<std::string>("TopicPrefix").getValue() + robotNodeSetName + "State";
     offeringTopic(listenerName);
 
     this->onInitKinematicUnit();

source/RobotAPI/components/units/KinematicUnit.h

@@ -51,6 +51,7 @@ namespace armarx
             defineRequiredProperty<std::string>("RobotNodeSetName", "Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
             defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
             defineOptionalProperty<std::string>("RobotFileNameProject", "", "Project in which the robot filename is located (if robot is loaded from an external project)");
+            defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
         }
     };
 

source/RobotAPI/components/units/KinematicUnitObserver.cpp

@@ -56,7 +56,7 @@ void KinematicUnitObserver::onInitObserver()
     offerConditionCheck("larger", new ConditionCheckLarger());
     offerConditionCheck("smaller", new ConditionCheckSmaller());
 
-    usingTopic(robotNodeSetName + "State");
+    usingTopic(getProperty<std::string>("TopicPrefix").getValue() + robotNodeSetName + "State");
 }
 
 void KinematicUnitObserver::onConnectObserver()

source/RobotAPI/components/units/KinematicUnitObserver.h

@@ -48,6 +48,8 @@ namespace armarx
             defineRequiredProperty<std::string>("RobotNodeSetName", "Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
             defineRequiredProperty<std::string>("RobotFileName", "Robot file name, e.g. robot_model.xml");
             defineOptionalProperty<std::string>("RobotFileNameProject", "", "Project in which the robot filename is located (if robot is loaded from an external project)");
+            defineOptionalProperty<std::string>("TopicPrefix", "", "Prefix for the sensor value topic name.");
+
         }
     };
 

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.cpp

@@ -41,6 +41,11 @@ namespace armarx
             return robotPlatformName;
         }
 
+        std::string RobotData::getRobotPlatformInstanceName() const
+        {
+            return robotPlatformInstanceName;
+        }
+
         const std::string& RobotData::getRobotNodetSeName() const
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
@@ -82,6 +87,8 @@ namespace armarx
             return clone;
         }
 
+
+
         void RobotData::_initVirtualRobot()
         {
             throwIfInControlThread(BOOST_CURRENT_FUNCTION);
@@ -94,6 +101,7 @@ namespace armarx
             robotProjectName    = getProperty<std::string>("RobotFileNameProject").getValue();
             robotFileName       = getProperty<std::string>("RobotFileName").getValue();
             robotPlatformName   = getProperty<std::string>("PlatformName").getValue();
+            robotPlatformInstanceName   = getProperty<std::string>("PlatformInstanceName").getValue();
 
             //load robot
             {

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleRobotData.h

@@ -55,7 +55,11 @@ namespace armarx
                     "Robot node set name as defined in robot xml file, e.g. 'LeftArm'");
                 defineOptionalProperty<std::string>(
                     "PlatformName", "Platform",
-                    "Name of the platform (will publish values on PlatformName + 'State')");
+                    "Name of the platform needs to correspond to a node in the virtual robot.");
+                defineOptionalProperty<std::string>(
+                    "PlatformInstanceName", "Platform",
+                    "Name of the platform instance (will publish values on PlatformInstanceName + 'State')");
+
             }
         };
 
@@ -114,6 +118,12 @@ namespace armarx
              */
             std::string getRobotName() const;
 
+            /**
+             * @brief Returns the name of the robot platform instance. Used for the platform topic: RobotPlatformInstance + "State"
+             */
+            std::string getRobotPlatformInstanceName() const;
+
+
             /**
              * @brief Returns a clone of the robot's model
              * @return A clone of the robot's model
@@ -122,6 +132,7 @@ namespace armarx
             // //////////////////////////////////////////////////////////////////////////////////////// //
             // ///////////////////////////////////////// Data ///////////////////////////////////////// //
             // //////////////////////////////////////////////////////////////////////////////////////// //
+
         private:
             /// @brief The name of the robot's RobotNodeSet
             std::string robotNodeSetName;
@@ -131,6 +142,8 @@ namespace armarx
             std::string robotFileName;
             /// @brief The name of the robot's platform
             std::string robotPlatformName;
+            /// @brief The name of the robot's platform instance
+            std::string robotPlatformInstanceName;
 
             /// @brief The robot's model.
             VirtualRobot::RobotPtr robot;

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.cpp

@@ -266,6 +266,8 @@ namespace armarx
             properties->setProperty(confPre + "RobotNodeSetName", _module<RobotData>().getRobotNodetSeName());
             properties->setProperty(confPre + "RobotFileName", _module<RobotData>().getRobotFileName());
             properties->setProperty(confPre + "RobotFileNameProject", _module<RobotData>().getRobotProjectName());
+            properties->setProperty(confPre + "TopicPrefix", getProperty<std::string>("KinematicUnitNameTopicPrefix"));
+
             ARMARX_DEBUG << "creating unit " << configName << " using these properties: " << properties->getPropertiesForPrefix("");
             IceInternal::Handle<UnitT> unit = Component::create<UnitT>(properties, configName, getConfigDomain());
 
@@ -317,7 +319,7 @@ namespace armarx
             Ice::PropertiesPtr properties = getIceProperties()->clone();
             //properties->setProperty(confPre + "MinimumLoggingLevel", getProperty<std::string>("MinimumLoggingLevel").getValue());
             //fill properties
-            properties->setProperty(confPre + "PlatformName", _module<RobotData>().getRobotPlatformName());
+            properties->setProperty(confPre + "PlatformName", _module<RobotData>().getRobotPlatformInstanceName());
             ARMARX_DEBUG << "creating unit " << configName << " using these properties: " << properties->getPropertiesForPrefix("");
             IceInternal::Handle<UnitT> unit = Component::create<UnitT>(properties, configName, getConfigDomain());
             //config

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h

@@ -39,6 +39,10 @@ namespace armarx
                 defineOptionalProperty<std::string>(
                     "KinematicUnitName", "KinematicUnit",
                     "The name of the created kinematic unit");
+                defineOptionalProperty<std::string>(
+                    "KinematicUnitNameTopicPrefix", "",
+                    "Prefix for the kinematic sensor values topic");
+
 
                 defineOptionalProperty<std::string>(
                     "PlatformUnitName", "PlatformUnit",