Add flag to suppress warnings

source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp

@@ -135,7 +135,11 @@ namespace armarx::armem::robot_state
     }
 
     std::optional<robot::RobotDescription>
-    RobotReader::queryDescription(const std::string& name, const armem::Time& timestamp)
+    RobotReader::queryDescription(
+            const std::string& name,
+            const armem::Time& timestamp,
+            bool warnings
+            )
     {
 
         const auto sanitizedTimestamp = timestamp.isValid() ? timestamp : Clock::Now();
@@ -155,8 +159,11 @@ namespace armarx::armem::robot_state
 
         if (not memoryReader)
         {
-            ARMARX_WARNING << "Memory reader is null. Did you forget to call "
-                              "RobotReader::connect() in onConnectComponent()?";
+            if (warnings)
+            {
+                ARMARX_WARNING << "Memory reader is null. Did you forget to call "
+                                  "RobotReader::connect() in onConnectComponent()?";
+            }
             return std::nullopt;
         }
 
@@ -175,7 +182,10 @@ namespace armarx::armem::robot_state
         }
         catch (...)
         {
-            ARMARX_WARNING << "query description failure" << GetHandledExceptionString();
+            if (warnings)
+            {
+                ARMARX_WARNING << "query description failure" << GetHandledExceptionString();
+            }
         }
 
         return std::nullopt;

source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.h

@@ -58,7 +58,8 @@ namespace armarx::armem::robot_state
                          const armem::Time& timestamp) override;
 
         std::optional<robot::RobotDescription> queryDescription(const std::string& name,
-                                                                const armem::Time& timestamp);
+                                                                const armem::Time& timestamp,
+                                                                bool warnings = true);
 
         std::optional<robot::RobotState> queryState(const robot::RobotDescription& description,
                                                     const armem::Time& timestamp);

source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp

@@ -61,21 +61,25 @@ namespace armarx::armem::robot_state
     VirtualRobot::RobotPtr
     VirtualRobotReader::getRobot(const std::string& name,
                                  const armem::Time& timestamp,
-                                 const VirtualRobot::RobotIO::RobotDescription& loadMode)
+                                 const VirtualRobot::RobotIO::RobotDescription& loadMode,
+                                 bool warnings)
     {
         ARMARX_INFO << "Querying robot description for robot '" << name << "'";
-        const auto description = queryDescription(name, timestamp);
+        const auto description = queryDescription(name, timestamp, warnings);
 
         if (not description)
         {
-            ARMARX_WARNING << "The description of robot `" << name << "` is nota available!";
+            if (warnings)
+            {
+                ARMARX_WARNING << "The description of robot `" << name << "` is not a available!";
+            }
             return nullptr;
         }
 
         const std::string xmlFilename =
             ArmarXDataPath::resolvePath(description->xml.serialize().path);
         ARMARX_INFO << "Loading (virtual) robot '" << description->name << "' from XML file '"
-                    << xmlFilename << "'";
+                        << xmlFilename << "'";
 
         auto robot = VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
         ARMARX_CHECK_NOT_NULL(robot) << "Could not load robot from file `" << xmlFilename << "`";

source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h

@@ -53,7 +53,8 @@ namespace armarx::armem::robot_state
         getRobot(const std::string& name,
                  const armem::Time& timestamp = armem::Time::Invalid(),
                  const VirtualRobot::RobotIO::RobotDescription& loadMode =
-                     VirtualRobot::RobotIO::RobotDescription::eStructure);
+                     VirtualRobot::RobotIO::RobotDescription::eStructure,
+                 bool warnings = true);
 
         [[nodiscard]] VirtualRobot::RobotPtr
         getSynchronizedRobot(const std::string& name,