Pass Aron dict in RobotUnitData

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp

@@ -39,6 +39,7 @@
 #include <RobotAPI/libraries/armem/core/ice_conversions.h>
 #include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
 #include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
+#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot_state/server/localization/Segment.h>
 
 
@@ -143,19 +144,20 @@ namespace armarx::armem::server::robot_state::proprioception
             armem::EntityUpdate& up = update.proprioception.add();
             up.entityID = properties.robotUnitProviderID.withEntityName(properties.robotUnitProviderID.providerSegmentName);
             up.timeCreated = data.timestamp;
-            up.instancesData = { data.proprioception.toAron() };
+            up.instancesData = { data.proprioception };
 
             // odometry pose -> localization segment
+            if (data.proprioception->hasElement("platform"))
             {
                 ARMARX_DEBUG << "Found odometry data.";
-                const Eigen::Vector3f& relPose = data.proprioception.platform.relativePosition;
+                prop::arondto::Platform platform;
+                platform.fromAron(aron::datanavigator::DictNavigator::DynamicCastAndCheck(data.proprioception->getElement("platform")));
+                const Eigen::Vector3f& relPose = platform.relativePosition;
 
                 Eigen::Affine3f odometryPose = Eigen::Affine3f::Identity();
                 odometryPose.translation() << relPose.x(), relPose.y(), 0; // TODO set height
                 odometryPose.linear() = simox::math::rpy_to_mat3f(0.F, 0.F, relPose.z());
 
-                // const auto timestamp = armem::Time::microSeconds(it->second.timestamp);
-
                 armem::robot_state::Transform& transform = update.localization;
                 transform.header.parentFrame = armarx::OdometryFrame;
                 transform.header.frame = "root"; // TODO: robot root node

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitData.h

 #pragma once
 
+#include <memory>
+
 #include <RobotAPI/libraries/armem/core/Time.h>
-#include <RobotAPI/libraries/armem_robot_state/aron/Proprioception.aron.generated.h>
 
 
+namespace armarx::aron::datanavigator
+{
+    using DictNavigatorPtr = std::shared_ptr<class DictNavigator>;
+}
 namespace armarx::armem::server::robot_state::proprioception
 {
 
     struct RobotUnitData
     {
-        armem::Time timestamp;
-        arondto::Proprioception proprioception;
+        Time timestamp;
+        aron::datanavigator::DictNavigatorPtr proprioception;
     };
 
 }

source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.cpp

@@ -4,6 +4,7 @@
 #include <SimoxUtility/algorithm/advanced.h>
 
 #include <RobotAPI/libraries/RobotUnitDataStreamingReceiver/RobotUnitDataStreamingReceiver.h>
+#include <RobotAPI/libraries/aron/core/navigator/data/container/Dict.h>
 
 
 namespace armarx::armem::server::robot_state::proprioception
@@ -164,7 +165,8 @@ namespace armarx::armem::server::robot_state::proprioception
     }
 
 
-    arondto::Proprioception Armar6RobotUnitDataConverter::convert(
+    aron::datanavigator::DictNavigatorPtr
+    Armar6RobotUnitDataConverter::convert(
         const RobotUnitDataStreaming::TimeStep& data,
         const RobotUnitDataStreaming::DataStreamingDescription& description)
     {
@@ -175,7 +177,7 @@ namespace armarx::armem::server::robot_state::proprioception
         {
             process(dto, dataEntryName, {data, dataEntry});
         }
-        return dto;
+        return dto.toAron();
     }
 
 

source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6RobotUnitDataConverter.h

@@ -23,7 +23,7 @@ namespace armarx::armem::server::robot_state::proprioception
         virtual ~Armar6RobotUnitDataConverter() override;
 
 
-        arondto::Proprioception convert(
+        aron::datanavigator::DictNavigatorPtr convert(
             const RobotUnitDataStreaming::TimeStep& data,
             const RobotUnitDataStreaming::DataStreamingDescription& description) override;
 

source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.cpp

@@ -6,7 +6,6 @@ namespace armarx::armem::server::robot_state
 
     RobotUnitDataConverterInterface::~RobotUnitDataConverterInterface()
     {
-
     }
 
 }

source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/RobotUnitDataConverterInterface.h

 #pragma once
 
+#include <memory>
+
 
 namespace armarx::RobotUnitDataStreaming
 {
@@ -11,6 +13,10 @@ namespace armarx::armem::arondto
 {
     class Proprioception;
 }
+namespace armarx::aron::datanavigator
+{
+    using DictNavigatorPtr = std::shared_ptr<class DictNavigator>;
+}
 
 namespace armarx::armem::server::robot_state
 {
@@ -20,7 +26,7 @@ namespace armarx::armem::server::robot_state
 
         virtual ~RobotUnitDataConverterInterface();
 
-        virtual arondto::Proprioception convert(
+        virtual aron::datanavigator::DictNavigatorPtr convert(
             const RobotUnitDataStreaming::TimeStep& data,
             const RobotUnitDataStreaming::DataStreamingDescription& description) = 0;