diff --git a/scenarios/Armar3Replay/Armar3Replay.scx b/scenarios/Armar3Replay/Armar3Replay.scx
index bafc4c4599c1251bc80a623f77c2b75cb5509274..452ba177a9b19ec8d806347b7259205aeaab2122 100644
--- a/scenarios/Armar3Replay/Armar3Replay.scx
+++ b/scenarios/Armar3Replay/Armar3Replay.scx
@@ -1,13 +1,13 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="Armar3Replay" creation="2017-02-14.19:27:46" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="SystemObserver" instance="" package="ArmarXCore" enabled="true"/>
- <application name="DebugObserver" instance="" package="ArmarXCore" enabled="true"/>
- <application name="KinematicUnitObserver" instance="" package="RobotAPI" enabled="true"/>
- <application name="PlatformUnitObserver" instance="" package="RobotAPI" enabled="true"/>
- <application name="ForceTorqueObserver" instance="" package="RobotAPI" enabled="true"/>
- <application name="KinematicUnitSimulation" instance="" package="RobotAPI" enabled="true"/>
- <application name="RobotStateComponent" instance="" package="RobotAPI" enabled="true"/>
- <application name="InertialMeasurementUnitObserverApp" instance="" package="RobotAPI" enabled="true"/>
- <application name="ConditionHandler" instance="" package="ArmarXCore" enabled="true"/>
+<scenario name="Armar3Replay" creation="2017-02-14.19:27:46" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="SystemObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="KinematicUnitObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="PlatformUnitObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ForceTorqueObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="KinematicUnitSimulation" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotStateComponent" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="InertialMeasurementUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ConditionHandler" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/Armar3Replay/config/ConditionHandler.cfg b/scenarios/Armar3Replay/config/ConditionHandler.cfg
index 8a4a4832a7405756731c6f0b71596c1cac2e5051..302cdee3ab28ea0ca7c5273768b1e704291b61ec 100644
--- a/scenarios/Armar3Replay/config/ConditionHandler.cfg
+++ b/scenarios/Armar3Replay/config/ConditionHandler.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,31 +13,32 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.ConditionHandler.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ConditionHandler.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ConditionHandler.EnableProfiling = false
# ArmarX.ConditionHandler.HistoryLength: Length of condition history kept by the conditionhandler
# Attributes:
# - Default: 1000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ConditionHandler.HistoryLength = 1000
@@ -45,15 +46,16 @@
# ArmarX.ConditionHandler.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
# ArmarX.ConditionHandler.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ConditionHandler.ObjectName = ""
@@ -61,7 +63,7 @@
# ArmarX.ConditionHandler.Observers: Comma seperated observer list
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ConditionHandler.Observers = ""
@@ -69,7 +71,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -77,7 +79,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -85,7 +87,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -93,75 +95,110 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/DebugObserver.cfg b/scenarios/Armar3Replay/config/DebugObserver.cfg
index 9d886530a24b6eed9b407280060d0cd8566fcca7..4a0b9dac036cd4d103efd7d1b718d508f285d85a 100644
--- a/scenarios/Armar3Replay/config/DebugObserver.cfg
+++ b/scenarios/Armar3Replay/config/DebugObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,39 +37,41 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.DebugObserver.DebugObserverTopicName: Name of the topic the DebugObserver listens on
# Attributes:
# - Default: DebugObserver
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.DebugObserverTopicName = DebugObserver
# ArmarX.DebugObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DebugObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.EnableProfiling = false
# ArmarX.DebugObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.MaxHistoryRecordFrequency = 50
@@ -77,7 +79,7 @@
# ArmarX.DebugObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.MaxHistorySize = 5000
@@ -85,15 +87,16 @@
# ArmarX.DebugObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.DebugObserver.MinimumLoggingLevel = Undefined
# ArmarX.DebugObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.ObjectName = ""
@@ -101,7 +104,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -109,75 +112,110 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/ForceTorqueObserver.cfg b/scenarios/Armar3Replay/config/ForceTorqueObserver.cfg
index a347a99273cf88aebad227ab50bfc6d07a358f44..2a9a165f8f3c9d035fa43528d999926677f5568b 100644
--- a/scenarios/Armar3Replay/config/ForceTorqueObserver.cfg
+++ b/scenarios/Armar3Replay/config/ForceTorqueObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,46 +53,50 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.ForceTorqueUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ForceTorqueUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.EnableProfiling = false
# ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName: Name of the ForceTorqueUnit Topic
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar3ForceTorqueUnitState
@@ -100,7 +104,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar3ForceTorqueUnitState
# ArmarX.ForceTorqueUnitObserver.ForceVisualizerFactor: Factor by which the forces are scaled to fit into 0..1 (only for visulization)
# Attributes:
# - Default: 0.00999999978
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.ForceVisualizerFactor = 0.00999999978
@@ -108,7 +112,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar3ForceTorqueUnitState
# ArmarX.ForceTorqueUnitObserver.MaxExpectedTorqueValue: The torque visualization circle reaches the full circle at this value
# Attributes:
# - Default: 30
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxExpectedTorqueValue = 30
@@ -116,7 +120,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar3ForceTorqueUnitState
# ArmarX.ForceTorqueUnitObserver.MaxForceArrowLength: Length of the force visu arrow in mm
# Attributes:
# - Default: 150
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxForceArrowLength = 150
@@ -124,7 +128,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar3ForceTorqueUnitState
# ArmarX.ForceTorqueUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxHistoryRecordFrequency = 50
@@ -132,7 +136,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar3ForceTorqueUnitState
# ArmarX.ForceTorqueUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxHistorySize = 5000
@@ -140,15 +144,16 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = Armar3ForceTorqueUnitState
# ArmarX.ForceTorqueUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.ForceTorqueUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.ForceTorqueUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
@@ -156,7 +161,7 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.RobotStateComponentName: Name of the RobotStateComponent that should be used
# Attributes:
# - Default: RobotStateComponent
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.RobotStateComponentName = RobotStateComponent
@@ -164,7 +169,7 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.RobotUpdateFrequency: Update frequency of the local robot
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.RobotUpdateFrequency = 50
@@ -172,7 +177,7 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.SensorRobotNodeMapping: Triplets of sensor node name, target frame robot node name and optional channel name: Sensor values are also reported in the frame of the robot node: e. g. SensorName:RobotNodeName[:ChannelName],SensorName2:RobotNodeName2[:ChannelName2]
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.SensorRobotNodeMapping = ""
@@ -180,75 +185,109 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.TorqueVisuDeadZone: Torques below this threshold are not visualized.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.TorqueVisuDeadZone = 1
# ArmarX.ForceTorqueUnitObserver.VisualizeForce: Visualize the force with an arrow in the debug drawer
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ForceTorqueUnitObserver.VisualizeForce = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.VisualizeForce = true
# ArmarX.ForceTorqueUnitObserver.VisualizeForceUpdateFrequency: Frequency with which the force is visualized
# Attributes:
# - Default: 30
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.VisualizeForceUpdateFrequency = 30
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/InertialMeasurementUnitObserverApp.cfg b/scenarios/Armar3Replay/config/InertialMeasurementUnitObserverApp.cfg
index 66c2717840af89e3380a2089801e1da743d84f62..1c3c7382b3a420a5a33dc950a0ac39b5ed07bbc3 100644
--- a/scenarios/Armar3Replay/config/InertialMeasurementUnitObserverApp.cfg
+++ b/scenarios/Armar3Replay/config/InertialMeasurementUnitObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,63 +53,68 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.InertialMeasurementUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.InertialMeasurementUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.InertialMeasurementUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.InertialMeasurementUnitObserver.DebugDrawerTopic: Name of the DebugDrawerTopic
# Attributes:
# - Default: DebugDrawerUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.InertialMeasurementUnitObserver.DebugDrawerTopic = DebugDrawerUpdates
# ArmarX.InertialMeasurementUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.InertialMeasurementUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.InertialMeasurementUnitObserver.EnableProfiling = false
# ArmarX.InertialMeasurementUnitObserver.EnableVisualization: Enable/Disable DebugDrawer visualizations
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.InertialMeasurementUnitObserver.EnableVisualization = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.InertialMeasurementUnitObserver.EnableVisualization = true
# ArmarX.InertialMeasurementUnitObserver.IMUTopicName: Name of the IMU Topic.
# Attributes:
# - Default: IMUValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.InertialMeasurementUnitObserver.IMUTopicName = IMUValues
@@ -117,7 +122,7 @@
# ArmarX.InertialMeasurementUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.InertialMeasurementUnitObserver.MaxHistoryRecordFrequency = 50
@@ -125,7 +130,7 @@
# ArmarX.InertialMeasurementUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.InertialMeasurementUnitObserver.MaxHistorySize = 5000
@@ -133,67 +138,101 @@
# ArmarX.InertialMeasurementUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.InertialMeasurementUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.InertialMeasurementUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.InertialMeasurementUnitObserver.ObjectName = ""
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/KinematicUnitObserver.cfg b/scenarios/Armar3Replay/config/KinematicUnitObserver.cfg
index 6c97ffd09196717d33d192cbd0aaf0e1905ff71b..38ff2eeb14f21683a18bc66c397d9a592f1d018c 100644
--- a/scenarios/Armar3Replay/config/KinematicUnitObserver.cfg
+++ b/scenarios/Armar3Replay/config/KinematicUnitObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,47 +53,51 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.KinematicUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.KinematicUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitObserver.EnableProfiling = false
# ArmarX.KinematicUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitObserver.MaxHistoryRecordFrequency = 50
@@ -101,7 +105,7 @@
# ArmarX.KinematicUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitObserver.MaxHistorySize = 5000
@@ -109,22 +113,23 @@
# ArmarX.KinematicUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.KinematicUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.KinematicUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitObserver.ObjectName = ""
# ArmarX.KinematicUnitObserver.RobotFileName: Robot file name, e.g. robot_model.xml
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.KinematicUnitObserver.RobotFileName = ::_NOT_SET_::
@@ -132,18 +137,26 @@
# ArmarX.KinematicUnitObserver.RobotFileNameProject: Project in which the robot filename is located (if robot is loaded from an external project)
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitObserver.RobotFileNameProject = ""
# ArmarX.KinematicUnitObserver.RobotNodeSetName: Robot node set name as defined in robot xml file, e.g. 'LeftArm'
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.KinematicUnitObserver.RobotNodeSetName = ::_NOT_SET_::
+# ArmarX.KinematicUnitObserver.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitObserver.TopicPrefix = ""
+
+
# ArmarX.KinematicUnitObserver.inheritFrom: No Description
# Attributes:
# - Default: RobotConfig
@@ -152,54 +165,87 @@
ArmarX.KinematicUnitObserver.inheritFrom = RobotConfig
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/KinematicUnitSimulation.cfg b/scenarios/Armar3Replay/config/KinematicUnitSimulation.cfg
index 54ef5f9692d5033041c9d7c31f263729fcde34ea..9c57dcf49e69f2f282ed63f9cf61f1467d21cb21 100644
--- a/scenarios/Armar3Replay/config/KinematicUnitSimulation.cfg
+++ b/scenarios/Armar3Replay/config/KinematicUnitSimulation.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,39 +53,42 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.KinematicUnitSimulation.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitSimulation.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitSimulation.EnableProfiling = false
# ArmarX.KinematicUnitSimulation.IntervalMs: The time in milliseconds between two calls to the simulation method.
# Attributes:
# - Default: 10
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.IntervalMs = 10
@@ -93,7 +96,7 @@
# ArmarX.KinematicUnitSimulation.Kd: derivative gain of the PID position controller.
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Kd = 0
@@ -101,7 +104,7 @@
# ArmarX.KinematicUnitSimulation.Ki: integral gain of the PID position controller.
# Attributes:
# - Default: 0.00100000005
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Ki = 0.00100000005
@@ -109,7 +112,7 @@
# ArmarX.KinematicUnitSimulation.Kp: proportional gain of the PID position controller.
# Attributes:
# - Default: 3
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Kp = 3
@@ -117,15 +120,16 @@
# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel = Undefined
# ArmarX.KinematicUnitSimulation.Noise: Gaussian noise is added to the velocity. Value in Degree
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Noise = 0
@@ -133,14 +137,14 @@
# ArmarX.KinematicUnitSimulation.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.KinematicUnitSimulation.ObjectName = Armar3KinematicUnit
# ArmarX.KinematicUnitSimulation.RobotFileName: Robot file name, e.g. robot_model.xml
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.KinematicUnitSimulation.RobotFileName = ::_NOT_SET_::
@@ -148,24 +152,33 @@ ArmarX.KinematicUnitSimulation.ObjectName = Armar3KinematicUnit
# ArmarX.KinematicUnitSimulation.RobotFileNameProject: Project in which the robot filename is located (if robot is loaded from an external project)
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.RobotFileNameProject = ""
# ArmarX.KinematicUnitSimulation.RobotNodeSetName: Robot node set name as defined in robot xml file, e.g. 'LeftArm'
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.KinematicUnitSimulation.RobotNodeSetName = ::_NOT_SET_::
+# ArmarX.KinematicUnitSimulation.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitSimulation.TopicPrefix = ""
+
+
# ArmarX.KinematicUnitSimulation.UsePDControllerForJointControl: If true a PD controller is also used in Position Mode instead of setting the joint angles instantly
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitSimulation.UsePDControllerForJointControl = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitSimulation.UsePDControllerForJointControl = true
# ArmarX.KinematicUnitSimulation.inheritFrom: No Description
@@ -176,54 +189,87 @@ ArmarX.KinematicUnitSimulation.ObjectName = Armar3KinematicUnit
ArmarX.KinematicUnitSimulation.inheritFrom = RobotConfig
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/PlatformUnitObserver.cfg b/scenarios/Armar3Replay/config/PlatformUnitObserver.cfg
index 3ee60be8d5cee4012e8b442e5287d6b4d9c3fc25..54b9572d7428c55443a4f7b7c62130d118ff04db 100644
--- a/scenarios/Armar3Replay/config/PlatformUnitObserver.cfg
+++ b/scenarios/Armar3Replay/config/PlatformUnitObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,25 +53,27 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.KinematicUnitObserver.inheritFrom: No Description
@@ -82,26 +84,44 @@
ArmarX.KinematicUnitObserver.inheritFrom = RobotConfig
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.PlatformUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.PlatformUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.PlatformUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.PlatformUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.PlatformUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.PlatformUnitObserver.EnableProfiling = false
# ArmarX.PlatformUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.PlatformUnitObserver.MaxHistoryRecordFrequency = 50
@@ -109,7 +129,7 @@ ArmarX.KinematicUnitObserver.inheritFrom = RobotConfig
# ArmarX.PlatformUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.PlatformUnitObserver.MaxHistorySize = 5000
@@ -117,15 +137,16 @@ ArmarX.KinematicUnitObserver.inheritFrom = RobotConfig
# ArmarX.PlatformUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.PlatformUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.PlatformUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.PlatformUnitObserver.ObjectName = ""
@@ -133,59 +154,76 @@ ArmarX.KinematicUnitObserver.inheritFrom = RobotConfig
# ArmarX.PlatformUnitObserver.PlatformName: Name of the platform (will publish values on PlatformName + 'State')
# Attributes:
# - Default: Platform
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.PlatformUnitObserver.PlatformName = Platform
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/RobotStateComponent.cfg b/scenarios/Armar3Replay/config/RobotStateComponent.cfg
index 48a9b5a91049b670bb9dd98fd7e08989d2630fa8..2755127da3115e43c83b7d3e946a31020f3b71af 100644
--- a/scenarios/Armar3Replay/config/RobotStateComponent.cfg
+++ b/scenarios/Armar3Replay/config/RobotStateComponent.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,62 +53,90 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
# ArmarX.RobotStateComponent.AgentName: Name of the agent for which the sensor values are provided
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.RobotStateComponent.AgentName = ::_NOT_SET_::
# ArmarX.RobotStateComponent.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateComponent.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateComponent.EnableProfiling = false
+
+
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName: Topic where the global robot pose can be reported.
+# Attributes:
+# - Default: GlobalRobotPoseLocalization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName = GlobalRobotPoseLocalization
# ArmarX.RobotStateComponent.HistoryLength: Number of entries in the robot state history
# Attributes:
# - Default: 10000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateComponent.HistoryLength = 10000
@@ -116,22 +144,31 @@
# ArmarX.RobotStateComponent.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.RobotStateComponent.MinimumLoggingLevel = Undefined
# ArmarX.RobotStateComponent.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateComponent.ObjectName = ""
+# ArmarX.RobotStateComponent.PlatformTopicName: Topic where platform state is published.
+# Attributes:
+# - Default: PlatformState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.PlatformTopicName = PlatformState
+
+
# ArmarX.RobotStateComponent.RobotFileName: Filename of VirtualRobot robot model (e.g. robot_model.xml)
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.RobotStateComponent.RobotFileName = ::_NOT_SET_::
@@ -139,14 +176,14 @@
# ArmarX.RobotStateComponent.RobotModelScaling: Scaling of the robot model
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateComponent.RobotModelScaling = 1
# ArmarX.RobotStateComponent.RobotNodeSetName: Set of nodes that is controlled by the KinematicUnit
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.RobotStateComponent.RobotNodeSetName = ::_NOT_SET_::
@@ -154,11 +191,19 @@
# ArmarX.RobotStateComponent.RobotStateReportingTopic: Name of the topic on which updates of the robot state are reported.
# Attributes:
# - Default: RobotStateUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateComponent.RobotStateReportingTopic = RobotStateUpdates
+# ArmarX.RobotStateComponent.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.TopicPrefix = ""
+
+
# ArmarX.RobotStateComponent.inheritFrom: No Description
# Attributes:
# - Default: RobotConfig
@@ -169,24 +214,26 @@ ArmarX.RobotStateComponent.inheritFrom = RobotConfig
# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.RobotStateObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateObserver.EnableProfiling = false
# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency = 50
@@ -194,7 +241,7 @@ ArmarX.RobotStateComponent.inheritFrom = RobotConfig
# ArmarX.RobotStateObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.MaxHistorySize = 5000
@@ -202,15 +249,16 @@ ArmarX.RobotStateComponent.inheritFrom = RobotConfig
# ArmarX.RobotStateObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.RobotStateObserver.MinimumLoggingLevel = Undefined
# ArmarX.RobotStateObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.ObjectName = ""
@@ -218,43 +266,59 @@ ArmarX.RobotStateComponent.inheritFrom = RobotConfig
# ArmarX.RobotStateObserver.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.TCPsToReport = ""
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/SystemObserver.cfg b/scenarios/Armar3Replay/config/SystemObserver.cfg
index 759d45eb6531f66c46eb49b1883cbdd0b318b9c1..d69f324c7f1086729bb37710661ad90790b5abe6 100644
--- a/scenarios/Armar3Replay/config/SystemObserver.cfg
+++ b/scenarios/Armar3Replay/config/SystemObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,71 +53,101 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.SystemObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.SystemObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SystemObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.SystemObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.SystemObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SystemObserver.EnableProfiling = false
# ArmarX.SystemObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SystemObserver.MaxHistoryRecordFrequency = 50
@@ -125,7 +155,7 @@
# ArmarX.SystemObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SystemObserver.MaxHistorySize = 5000
@@ -133,43 +163,51 @@
# ArmarX.SystemObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.SystemObserver.MinimumLoggingLevel = Undefined
# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SystemObserver.ObjectName = ""
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/Armar3Replay/config/global.cfg b/scenarios/Armar3Replay/config/global.cfg
index db76b16bc8a504b744a44c74771225c16a4b5158..3c67b4f3078ef3bfccaf932db3d8b0171893a96c 100644
--- a/scenarios/Armar3Replay/config/global.cfg
+++ b/scenarios/Armar3Replay/config/global.cfg
@@ -34,9 +34,6 @@ ArmarX.GlobalMinimumLoggingLevel = Verbose
ArmarX.UseTimeServer = 0
-
-
-
# RobotConfig.AgentName: Custom Property
# Attributes:
# - Default: ::NOT_DEFINED::
diff --git a/scenarios/CyberGloveObserver/CyberGloveObserver.scx b/scenarios/CyberGloveObserver/CyberGloveObserver.scx
index 54b11e89bec2622b1bd4de77ac39966f46a2923c..bdc701d47e09d81afa2764ab5207806a62f01932 100644
--- a/scenarios/CyberGloveObserver/CyberGloveObserver.scx
+++ b/scenarios/CyberGloveObserver/CyberGloveObserver.scx
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="CyberGloveObserver" creation="2018-12-06.19:23:53" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="CyberGloveObserverApp" instance="" package="RobotAPI" enabled="true"/>
+<scenario name="CyberGloveObserver" creation="2018-12-06.19:23:53" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="CyberGloveObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/CyberGloveObserver/config/CyberGloveObserverApp.cfg b/scenarios/CyberGloveObserver/config/CyberGloveObserverApp.cfg
index e83ba42a627587aeebf91f2eae15aa52671fad19..ef148134370952ccf58c19330ffe07a02d09ed14 100644
--- a/scenarios/CyberGloveObserver/config/CyberGloveObserverApp.cfg
+++ b/scenarios/CyberGloveObserver/config/CyberGloveObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,39 +29,41 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
# ArmarX.CyberGloveObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CyberGloveObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.CyberGloveObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.CyberGloveObserver.CyberGloveTopicName: Name of the CyberGlove Topic
# Attributes:
# - Default: CyberGloveValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CyberGloveObserver.CyberGloveTopicName = CyberGloveValues
# ArmarX.CyberGloveObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CyberGloveObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.CyberGloveObserver.EnableProfiling = false
# ArmarX.CyberGloveObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CyberGloveObserver.MaxHistoryRecordFrequency = 50
@@ -69,7 +71,7 @@
# ArmarX.CyberGloveObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CyberGloveObserver.MaxHistorySize = 5000
@@ -77,15 +79,16 @@
# ArmarX.CyberGloveObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.CyberGloveObserver.MinimumLoggingLevel = Undefined
# ArmarX.CyberGloveObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CyberGloveObserver.ObjectName = ""
@@ -93,7 +96,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -101,7 +104,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -109,63 +112,83 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.LoadLibraries = ""
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -173,27 +196,26 @@
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/CyberGloveObserver/config/global.cfg b/scenarios/CyberGloveObserver/config/global.cfg
index 7020e04852e8c08ae3a2b7e7cb8c3d6d7e49010e..58d599f1f33d25099850912dfc45520c83bb6522 100644
--- a/scenarios/CyberGloveObserver/config/global.cfg
+++ b/scenarios/CyberGloveObserver/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario CyberGloveObserver
# ==================================================================
-
-
-
diff --git a/scenarios/GamepadControlUnit/GamepadControlUnit.scx b/scenarios/GamepadControlUnit/GamepadControlUnit.scx
index 65fb5e9578f7cc759af2a8e3a9460b5fccaaeeb9..a22855b38411d1c13d47b72d6dd7a591c479033b 100644
--- a/scenarios/GamepadControlUnit/GamepadControlUnit.scx
+++ b/scenarios/GamepadControlUnit/GamepadControlUnit.scx
@@ -1,5 +1,5 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="GamepadControlUnit" lastChange="2017-03-10.11:31:35" creation="2017-03-10.11:31:30" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="GamepadControlUnitApp" instance="" package="RobotAPI"/>
+<scenario name="GamepadControlUnit" creation="2017-03-10.11:31:30" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="GamepadControlUnitApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/GamepadControlUnit/config/GamepadControlUnitApp.cfg b/scenarios/GamepadControlUnit/config/GamepadControlUnitApp.cfg
index 3b8084595a3adb135f9a348bde18abb1d9a22649..72e2ba2c5a7f29c92a99470112026784b9d99b3f 100644
--- a/scenarios/GamepadControlUnit/config/GamepadControlUnitApp.cfg
+++ b/scenarios/GamepadControlUnit/config/GamepadControlUnitApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,39 +53,42 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.GamepadControlUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.GamepadControlUnit.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.GamepadControlUnit.EnableProfiling = false
# ArmarX.GamepadControlUnit.GamepadTopicName: Name of the Gamepad Topic
# Attributes:
# - Default: GamepadValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadControlUnit.GamepadTopicName = GamepadValues
@@ -93,15 +96,16 @@
# ArmarX.GamepadControlUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.GamepadControlUnit.MinimumLoggingLevel = Undefined
# ArmarX.GamepadControlUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadControlUnit.ObjectName = ""
@@ -109,64 +113,116 @@
# ArmarX.GamepadControlUnit.PlatformUnitName: Name of the platform unit to use
# Attributes:
# - Default: Armar6IcePlatformUnit
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadControlUnit.PlatformUnitName = Armar6IcePlatformUnit
-# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# ArmarX.GamepadControlUnit.ScaleAngle: scaling factor in radian per second
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.GamepadControlUnit.ScaleAngle = 1
+
+
+# ArmarX.GamepadControlUnit.ScaleX: scaling factor in mm per second
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.GamepadControlUnit.ScaleX = 1000
+
+
+# ArmarX.GamepadControlUnit.ScaleY: scaling factor in mm per second
+# Attributes:
+# - Default: 1000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.GamepadControlUnit.ScaleY = 1000
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-# Ice.Config: Custom Property
-# Attributes:
-# - Default: ::NOT_DEFINED::
-# - Case sensitivity: no
-# - Required: no
-# Ice.Config = ::NOT_DEFINED::
-
-
diff --git a/scenarios/GamepadControlUnit/config/global.cfg b/scenarios/GamepadControlUnit/config/global.cfg
index 63a93840d45c08bf2b7cb8f46f8baff8bb30848e..82eec0e0110affc6fcd40aa46e9ad33e3363661b 100644
--- a/scenarios/GamepadControlUnit/config/global.cfg
+++ b/scenarios/GamepadControlUnit/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario GamepadControlUnit
# ==================================================================
-
-
-
diff --git a/scenarios/GamepadUnit/GamepadUnit.scx b/scenarios/GamepadUnit/GamepadUnit.scx
index 2efba7e186f770a1dba19d2476bb1ae739283560..1d00a624cd5b206c28703ee62e87a0f549f246ac 100644
--- a/scenarios/GamepadUnit/GamepadUnit.scx
+++ b/scenarios/GamepadUnit/GamepadUnit.scx
@@ -1,7 +1,7 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="GamepadUnit" lastChange="2017-03-20.19:33:52" creation="2017-03-09.11:59:13" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="GamepadUnitApp" instance="" package="RobotAPI"/>
- <application name="GamepadUnitObserverApp" instance="" package="RobotAPI"/>
- <application name="GamepadControlUnitApp" instance="" package="RobotAPI"/>
+<scenario name="GamepadUnit" creation="2017-03-09.11:59:13" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="GamepadUnitApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="GamepadUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="GamepadControlUnitApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg b/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg
index 2773927c3ee324f8da4a5589bdf3a61955bfa41f..a66550bcfd82f91a7036932506768547260f6481 100644
--- a/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg
+++ b/scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,15 +13,15 @@ ArmarX.AdditionalPackages = Default value not mapped.
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
@@ -29,7 +29,7 @@ ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.Config = ""
@@ -37,7 +37,7 @@ ArmarX.Config = ""
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.DataPath = ""
@@ -45,7 +45,7 @@ ArmarX.DataPath = ""
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.DefaultPackages = Default value not mapped.
@@ -53,39 +53,42 @@ ArmarX.DefaultPackages = Default value not mapped.
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.DisableLogging = 0
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.EnableProfiling = 0
# ArmarX.GamepadControlUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.GamepadControlUnit.EnableProfiling = 0
# ArmarX.GamepadControlUnit.GamepadTopicName: Name of the Gamepad Topic
# Attributes:
# - Default: GamepadValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.GamepadControlUnit.GamepadTopicName = GamepadValues
@@ -93,15 +96,16 @@ ArmarX.GamepadControlUnit.GamepadTopicName = GamepadValues
# ArmarX.GamepadControlUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
ArmarX.GamepadControlUnit.MinimumLoggingLevel = Undefined
# ArmarX.GamepadControlUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.GamepadControlUnit.ObjectName = ""
@@ -109,7 +113,7 @@ ArmarX.GamepadControlUnit.ObjectName = ""
# ArmarX.GamepadControlUnit.PlatformUnitName: Name of the platform unit to use
# Attributes:
# - Default: Armar6IcePlatformUnit
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.GamepadControlUnit.PlatformUnitName = Armar6IcePlatformUnit
@@ -117,7 +121,7 @@ ArmarX.GamepadControlUnit.PlatformUnitName = Armar6IcePlatformUnit
# ArmarX.GamepadControlUnit.ScaleAngle: scaling factor in radian per second
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.GamepadControlUnit.ScaleAngle = -1
@@ -125,7 +129,7 @@ ArmarX.GamepadControlUnit.ScaleAngle = -1
# ArmarX.GamepadControlUnit.ScaleX: scaling factor in mm per second
# Attributes:
# - Default: 1000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.GamepadControlUnit.ScaleX = 500
@@ -133,59 +137,92 @@ ArmarX.GamepadControlUnit.ScaleX = 500
# ArmarX.GamepadControlUnit.ScaleY: scaling factor in mm per second
# Attributes:
# - Default: 1000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.GamepadControlUnit.ScaleY = -500
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.RedirectStdout = 1
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.UseTimeServer = 0
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/GamepadUnit/config/GamepadUnitApp.cfg b/scenarios/GamepadUnit/config/GamepadUnitApp.cfg
index d30f64a82a57fbeee68ffb22fff372adb32e50ac..d8558e66f9481926f9f0736c7e87bf8332d2a93a 100644
--- a/scenarios/GamepadUnit/config/GamepadUnitApp.cfg
+++ b/scenarios/GamepadUnit/config/GamepadUnitApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,39 +53,42 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.GamepadUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.GamepadUnit.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.GamepadUnit.EnableProfiling = false
# ArmarX.GamepadUnit.GamepadDeviceName: device that will be opened as a gamepad
# Attributes:
# - Default: /dev/input/js2
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.GamepadUnit.GamepadDeviceName = /dev/input/js0
@@ -93,7 +96,7 @@ ArmarX.GamepadUnit.GamepadDeviceName = /dev/input/js0
# ArmarX.GamepadUnit.GamepadTopicName: Name of the Gamepad Topic
# Attributes:
# - Default: GamepadValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadUnit.GamepadTopicName = GamepadValues
@@ -101,67 +104,109 @@ ArmarX.GamepadUnit.GamepadDeviceName = /dev/input/js0
# ArmarX.GamepadUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.GamepadUnit.MinimumLoggingLevel = Undefined
# ArmarX.GamepadUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadUnit.ObjectName = ""
+# ArmarX.GamepadUnit.PublishTimeout: In Milliseconds. Timeout after which the gamepad data is not published after, if no new data was read from the gamepad
+# Attributes:
+# - Default: 2000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.GamepadUnit.PublishTimeout = 2000
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg b/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg
index 27e3b329d9da2b63b3aae94b4dac95ea7ec55c4a..c24a07f466cd79bc65058f319df95ef7364f0648 100644
--- a/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg
+++ b/scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,47 +53,59 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.GamepadUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.GamepadUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.GamepadUnitObserver.DebugDrawerTopic: Name of the DebugDrawerTopic
# Attributes:
# - Default: DebugDrawerUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadUnitObserver.DebugDrawerTopic = DebugDrawerUpdates
# ArmarX.GamepadUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.GamepadUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.GamepadUnitObserver.EnableProfiling = false
# ArmarX.GamepadUnitObserver.GamepadTopicName: Name of the Gamepad Topic
# Attributes:
# - Default: GamepadValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadUnitObserver.GamepadTopicName = GamepadValues
@@ -101,7 +113,7 @@
# ArmarX.GamepadUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadUnitObserver.MaxHistoryRecordFrequency = 50
@@ -109,7 +121,7 @@
# ArmarX.GamepadUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadUnitObserver.MaxHistorySize = 5000
@@ -117,67 +129,101 @@
# ArmarX.GamepadUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.GamepadUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.GamepadUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.GamepadUnitObserver.ObjectName = ""
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/GamepadUnit/config/global.cfg b/scenarios/GamepadUnit/config/global.cfg
index 887b1b11ae6ed26dd58ab544801bfe93bda04422..9130613d6bd4fa20f9d0d13e717e02fb984b8213 100644
--- a/scenarios/GamepadUnit/config/global.cfg
+++ b/scenarios/GamepadUnit/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario GamepadUnit
# ==================================================================
-
-
-
diff --git a/scenarios/KITProstheticHand/KITProstheticHand.scx b/scenarios/KITProstheticHand/KITProstheticHand.scx
index 21da9ad825dbdac6d2ca6fc573bd154f857e8ea6..8303c3545a80298cf3d637342a6bcdeba71d88a4 100644
--- a/scenarios/KITProstheticHand/KITProstheticHand.scx
+++ b/scenarios/KITProstheticHand/KITProstheticHand.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="KITProstheticHand" creation="2018-09-19.15:47:59" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="ProsthesisObserverApp" instance="" package="RobotAPI" enabled="true"/>
- <application name="ExternalApplicationManager" instance="" package="ArmarXCore" enabled="true"/>
+<scenario name="KITProstheticHand" creation="2018-09-19.15:47:59" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="ProsthesisObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ExternalApplicationManager" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/KITProstheticHand/config/ExternalApplicationManager.cfg b/scenarios/KITProstheticHand/config/ExternalApplicationManager.cfg
index e922cb6589acabf9744fe9cd08ae3e77e50a2e44..a9dd2a5e1cd7448d6a64c9609fc2910e6a05eee9 100644
--- a/scenarios/KITProstheticHand/config/ExternalApplicationManager.cfg
+++ b/scenarios/KITProstheticHand/config/ExternalApplicationManager.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,31 +53,33 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.ExternalApplicationManager.AdditionalEnvVars: Comma-seperated list of env-var assignment, e.g. MYVAR=1,ADDPATH=/tmp
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.AdditionalEnvVars = Default value not mapped.
@@ -85,14 +87,14 @@
# ArmarX.ExternalApplicationManager.ApplicationArguments: Comma separated list of command line parameters. Commas in double-quoted strings are ignored.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.ApplicationArguments = ""
# ArmarX.ExternalApplicationManager.ApplicationPath: Either the name of the application if its directory is part of the PATH environment variable of the system or it is located in an ArmarX-package, or the relative or absolute path to the application.
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.ExternalApplicationManager.ApplicationPath = ::_NOT_SET_::
@@ -100,47 +102,50 @@
# ArmarX.ExternalApplicationManager.ArmarXPackage: Set this property if the application is located in an ArmarX-package.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.ArmarXPackage = ""
# ArmarX.ExternalApplicationManager.BinaryPathAsWorkingDirectory: If true the path of the binary is set as the working directory.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExternalApplicationManager.BinaryPathAsWorkingDirectory = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExternalApplicationManager.BinaryPathAsWorkingDirectory = false
# ArmarX.ExternalApplicationManager.Dependencies: Comma-seperated list of Ice Object dependencies. The external app will only be started after all dependencies have been found.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.Dependencies = Default value not mapped.
# ArmarX.ExternalApplicationManager.DisconnectInCaseOfCrash: Whether this component should disconnect as long as the application is not running.
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExternalApplicationManager.DisconnectInCaseOfCrash = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExternalApplicationManager.DisconnectInCaseOfCrash = true
# ArmarX.ExternalApplicationManager.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExternalApplicationManager.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExternalApplicationManager.EnableProfiling = false
# ArmarX.ExternalApplicationManager.FakeObjectDelayedStartKeyword: If not empty, the start up of the fake armarx object will be delayed until this keyword is found in the stdout of the subprocess.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.FakeObjectDelayedStartKeyword = ""
@@ -148,7 +153,7 @@
# ArmarX.ExternalApplicationManager.FakeObjectStartDelay: Delay in ms after which the fake armarx object is started on which other apps can depend. Not used if property FakeObjectDelayedStartKeyword is used.
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.FakeObjectStartDelay = 0
@@ -156,7 +161,7 @@
# ArmarX.ExternalApplicationManager.KillDelay: Delay ins ms before the subprocess is killed after sending the stop signal
# Attributes:
# - Default: 2000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.KillDelay = 2000
@@ -164,79 +169,109 @@
# ArmarX.ExternalApplicationManager.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.ExternalApplicationManager.MinimumLoggingLevel = Undefined
# ArmarX.ExternalApplicationManager.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.ObjectName = ""
# ArmarX.ExternalApplicationManager.PythonUnbuffered: If true, PYTHONUNBUFFERED=1 is added to the environment variables.
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExternalApplicationManager.PythonUnbuffered = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExternalApplicationManager.PythonUnbuffered = true
# ArmarX.ExternalApplicationManager.RedirectToArmarXLog: If true, all outputs from the subprocess are printed with ARMARX_LOG, otherwise with std::cout
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExternalApplicationManager.RedirectToArmarXLog = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExternalApplicationManager.RedirectToArmarXLog = true
# ArmarX.ExternalApplicationManager.RestartInCaseOfCrash: Whether the application should be restarted in case it crashed.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ExternalApplicationManager.RestartInCaseOfCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ExternalApplicationManager.RestartInCaseOfCrash = false
# ArmarX.ExternalApplicationManager.WorkingDirectory: If set, this path is used as working directory for the external app. This overrides BinaryPathAsWorkingDirectory. ${HOME} for env vars, $C{RobotAPI:BINARY_DIR} for CMakePackageFinder vars
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ExternalApplicationManager.WorkingDirectory = ""
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -244,27 +279,26 @@
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KITProstheticHand/config/global.cfg b/scenarios/KITProstheticHand/config/global.cfg
index f466c4d609c2fd6794368963c6c0169268a11157..6c6974a12a69c9c6df8f82c5493fa8908085fca6 100644
--- a/scenarios/KITProstheticHand/config/global.cfg
+++ b/scenarios/KITProstheticHand/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario KITProstheticHand
# ==================================================================
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/KinematicSimulationArmar3.scx b/scenarios/KinematicSimulationArmar3/KinematicSimulationArmar3.scx
index 39370e40e8a4520eb99baa4899aa32d4cbf3ee5d..c774d9d2eb445323418282ecd10a7b5307e6548f 100644
--- a/scenarios/KinematicSimulationArmar3/KinematicSimulationArmar3.scx
+++ b/scenarios/KinematicSimulationArmar3/KinematicSimulationArmar3.scx
@@ -1,14 +1,16 @@
-<scenario name='KinematicSimulationArmar3' lastChange='2016-10-26.14:27:39' creation='2016-10-26.14:27:39' globalConfigName='./config/Global.cfg' package='RobotAPI'>
-<application name='KinematicUnitSimulation' instance='' package='RobotAPI'/>
-<application name='KinematicUnitObserver' instance='' package='RobotAPI'/>
-<application name='HeadIKUnit' instance='' package='RobotAPI'/>
-<application name='TCPControlUnit' instance='' package='RobotAPI'/>
-<application name='HandUnitSimulation' instance='LeftHand' package='RobotAPI'/>
-<application name='HandUnitSimulation' instance='RightHand' package='RobotAPI'/>
-<application name='ForceTorqueUnitSimulation' instance='' package='RobotAPI'/>
-<application name='ForceTorqueObserver' instance='' package='RobotAPI'/>
-<application name='DebugObserver' instance='' package='ArmarXCore'/>
-<application name='ConditionHandler' instance='' package='ArmarXCore'/>
-<application name='SystemObserver' instance='' package='ArmarXCore'/>
-<application name='RobotStateComponent' instance='' package='RobotAPI'/>
-</scenario>
\ No newline at end of file
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="KinematicSimulationArmar3" creation="2016-10-26.14:27:39" globalConfigName="./config/Global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="KinematicUnitSimulation" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="KinematicUnitObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="HeadIKUnit" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="TCPControlUnit" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="HandUnitSimulation" instance="LeftHand" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="HandUnitSimulation" instance="RightHand" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ForceTorqueUnitSimulation" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ForceTorqueObserver" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="DebugObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ConditionHandler" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SystemObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotStateComponent" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg b/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
index ccb6c92ebf6d892778253a6a4f0e7945ce1d91ac..2073d08cf8ec212807a8db654e9014e13fc1af47 100644
--- a/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/ConditionHandler.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,23 +21,24 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
# ArmarX.ConditionHandler.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ConditionHandler.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ConditionHandler.EnableProfiling = false
# ArmarX.ConditionHandler.HistoryLength: Length of condition history kept by the conditionhandler
# Attributes:
# - Default: 1000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ConditionHandler.HistoryLength = 1000
@@ -45,15 +46,16 @@
# ArmarX.ConditionHandler.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.ConditionHandler.MinimumLoggingLevel = Undefined
# ArmarX.ConditionHandler.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ConditionHandler.ObjectName = ""
@@ -61,7 +63,7 @@
# ArmarX.ConditionHandler.Observers: Comma seperated observer list
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.ConditionHandler.Observers = Armar3KinematicUnitObserver,SystemObserver
@@ -69,7 +71,7 @@ ArmarX.ConditionHandler.Observers = Armar3KinematicUnitObserver,SystemObserver
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -77,7 +79,7 @@ ArmarX.ConditionHandler.Observers = Armar3KinematicUnitObserver,SystemObserver
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -85,7 +87,7 @@ ArmarX.ConditionHandler.Observers = Armar3KinematicUnitObserver,SystemObserver
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -93,55 +95,83 @@ ArmarX.ConditionHandler.Observers = Armar3KinematicUnitObserver,SystemObserver
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -149,27 +179,26 @@ ArmarX.ConditionHandler.Observers = Armar3KinematicUnitObserver,SystemObserver
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg b/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
index 30ca8b9cbf171bc6a84d0db34faa962fffeca42b..4a0b9dac036cd4d103efd7d1b718d508f285d85a 100644
--- a/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/DebugObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,39 +37,41 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.DebugObserver.DebugObserverTopicName: Name of the topic the DebugObserver listens on
# Attributes:
# - Default: DebugObserver
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.DebugObserverTopicName = DebugObserver
# ArmarX.DebugObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DebugObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DebugObserver.EnableProfiling = false
# ArmarX.DebugObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.MaxHistoryRecordFrequency = 50
@@ -77,7 +79,7 @@
# ArmarX.DebugObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.MaxHistorySize = 5000
@@ -85,15 +87,16 @@
# ArmarX.DebugObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.DebugObserver.MinimumLoggingLevel = Undefined
# ArmarX.DebugObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DebugObserver.ObjectName = ""
@@ -101,7 +104,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -109,55 +112,83 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -165,27 +196,26 @@
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg b/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
index 86c5d879809ebb1639f982ac81d438dd2681c22a..bafb4c9735bc1d0b988bb58ff8680a9f61ccfc2d 100644
--- a/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/ForceTorqueObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,46 +53,50 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.ForceTorqueUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ForceTorqueUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.EnableProfiling = false
# ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName: Name of the ForceTorqueUnit Topic
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
@@ -100,7 +104,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
# ArmarX.ForceTorqueUnitObserver.ForceVisualizerFactor: Factor by which the forces are scaled to fit into 0..1 (only for visulization)
# Attributes:
# - Default: 0.00999999978
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.ForceVisualizerFactor = 0.00999999978
@@ -108,7 +112,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
# ArmarX.ForceTorqueUnitObserver.MaxExpectedTorqueValue: The torque visualization circle reaches the full circle at this value
# Attributes:
# - Default: 30
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxExpectedTorqueValue = 30
@@ -116,7 +120,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
# ArmarX.ForceTorqueUnitObserver.MaxForceArrowLength: Length of the force visu arrow in mm
# Attributes:
# - Default: 150
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxForceArrowLength = 150
@@ -124,7 +128,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
# ArmarX.ForceTorqueUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxHistoryRecordFrequency = 50
@@ -132,7 +136,7 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
# ArmarX.ForceTorqueUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.MaxHistorySize = 5000
@@ -140,15 +144,16 @@ ArmarX.ForceTorqueUnitObserver.ForceTorqueTopicName = "ForceTorqueValues"
# ArmarX.ForceTorqueUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.ForceTorqueUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.ForceTorqueUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
@@ -156,7 +161,7 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.RobotStateComponentName: Name of the RobotStateComponent that should be used
# Attributes:
# - Default: RobotStateComponent
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.RobotStateComponentName = RobotStateComponent
@@ -164,7 +169,7 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.RobotUpdateFrequency: Update frequency of the local robot
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.RobotUpdateFrequency = 50
@@ -172,7 +177,7 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.SensorRobotNodeMapping: Triplets of sensor node name, target frame robot node name and optional channel name: Sensor values are also reported in the frame of the robot node: e. g. SensorName:RobotNodeName[:ChannelName],SensorName2:RobotNodeName2[:ChannelName2]
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.SensorRobotNodeMapping = ""
@@ -180,55 +185,82 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.ForceTorqueUnitObserver.TorqueVisuDeadZone: Torques below this threshold are not visualized.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.TorqueVisuDeadZone = 1
# ArmarX.ForceTorqueUnitObserver.VisualizeForce: Visualize the force with an arrow in the debug drawer
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ForceTorqueUnitObserver.VisualizeForce = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitObserver.VisualizeForce = true
# ArmarX.ForceTorqueUnitObserver.VisualizeForceUpdateFrequency: Frequency with which the force is visualized
# Attributes:
# - Default: 30
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitObserver.VisualizeForceUpdateFrequency = 30
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -236,27 +268,26 @@ ArmarX.ForceTorqueUnitObserver.ObjectName = "Armar3ForceTorqueObserver"
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg b/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
index e6524d2d96df86cba8d66e01cf28e476e91d151d..a398c8b8ae90b503f5954637e696c0bb978796da 100644
--- a/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/ForceTorqueUnitSimulation.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,46 +53,49 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.ForceTorqueUnitSimulation.AgentName: name of the robot agent
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.ForceTorqueUnitSimulation.AgentName = Armar3
# ArmarX.ForceTorqueUnitSimulation.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.ForceTorqueUnitSimulation.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ForceTorqueUnitSimulation.EnableProfiling = false
# ArmarX.ForceTorqueUnitSimulation.ForceTorqueTopicName: Name of the topic on which the sensor values are provided
# Attributes:
# - Default: ForceTorqueValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitSimulation.ForceTorqueTopicName = ForceTorqueValues
@@ -100,7 +103,7 @@ ArmarX.ForceTorqueUnitSimulation.AgentName = Armar3
# ArmarX.ForceTorqueUnitSimulation.IntervalMs: The time in milliseconds between two calls to the simulation method.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitSimulation.IntervalMs = 50
@@ -108,54 +111,81 @@ ArmarX.ForceTorqueUnitSimulation.AgentName = Armar3
# ArmarX.ForceTorqueUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.ForceTorqueUnitSimulation.MinimumLoggingLevel = Undefined
# ArmarX.ForceTorqueUnitSimulation.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ForceTorqueUnitSimulation.ObjectName = ""
# ArmarX.ForceTorqueUnitSimulation.SensorNames: simulated sensor name. seperated by comma
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.ForceTorqueUnitSimulation.SensorNames = TCP L, TCP R
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -163,27 +193,26 @@ ArmarX.ForceTorqueUnitSimulation.SensorNames = TCP L, TCP R
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/Global.cfg b/scenarios/KinematicSimulationArmar3/config/Global.cfg
index 28ed7cfec548f151a0e2b96369cc7cdaf914f974..5abe4827290c5824fb6368ae963123da2e87c7cc 100644
--- a/scenarios/KinematicSimulationArmar3/config/Global.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/Global.cfg
@@ -18,9 +18,6 @@ ArmarX.DisableLogging = no
ArmarX.GlobalMinimumLoggingLevel = Verbose
-
-
-
# VisionX.DisableLogging: Custom Property
# Attributes:
# - Default: ::NOT_DEFINED::
diff --git a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
index 9cf0208643841d6a2491ebde55faa76dd19c736a..bb79f699cda37c6174a7b728576be69dfce0a080 100644
--- a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.LeftHand.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,45 +53,48 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.HandUnitSimulation.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.HandUnitSimulation.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HandUnitSimulation.EnableProfiling = false
# ArmarX.HandUnitSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.HandUnitSimulation.EndeffectorName = TCP L
# ArmarX.HandUnitSimulation.KinematicUnitName: Name of the kinematic unit that should be used
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.HandUnitSimulation.KinematicUnitName = ::_NOT_SET_::
@@ -99,54 +102,81 @@ ArmarX.HandUnitSimulation.EndeffectorName = TCP L
# ArmarX.HandUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.HandUnitSimulation.MinimumLoggingLevel = Undefined
# ArmarX.HandUnitSimulation.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.HandUnitSimulation.ObjectName = "LeftHandUnit"
# ArmarX.HandUnitSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.HandUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -154,27 +184,26 @@ ArmarX.HandUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
index 46e2603eb8329dcbe10438b3aabed646d616da61..fd03aedfde9311dc03f7cee181514ac5062296f1 100644
--- a/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/HandUnitSimulation.RightHand.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,45 +53,48 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.HandUnitSimulation.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.HandUnitSimulation.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HandUnitSimulation.EnableProfiling = false
# ArmarX.HandUnitSimulation.EndeffectorName: Name of the endeffector as stored in the XML file (will publish values on EndeffectorName + 'State')
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.HandUnitSimulation.EndeffectorName = TCP R
# ArmarX.HandUnitSimulation.KinematicUnitName: Name of the kinematic unit that should be used
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
# ArmarX.HandUnitSimulation.KinematicUnitName = ::_NOT_SET_::
@@ -99,54 +102,81 @@ ArmarX.HandUnitSimulation.EndeffectorName = TCP R
# ArmarX.HandUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.HandUnitSimulation.MinimumLoggingLevel = Undefined
# ArmarX.HandUnitSimulation.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.HandUnitSimulation.ObjectName = "RightHandUnit"
# ArmarX.HandUnitSimulation.RobotFileName: VirtualRobot XML file in which the endeffector is is stored.
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.HandUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -154,27 +184,26 @@ ArmarX.HandUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg b/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
index 907db9f10faa341d5d70595105ed4e34744ac9bb..c57bf54778c48458b66827a54aa3ceec1ae321be 100644
--- a/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/HeadIKUnit.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,54 +53,57 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.HeadIKUnit.CycleTime: Cycle time of the tcp control in ms
# Attributes:
# - Default: 30
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.HeadIKUnit.CycleTime = 30
# ArmarX.HeadIKUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.HeadIKUnit.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HeadIKUnit.EnableProfiling = false
# ArmarX.HeadIKUnit.HeadIKUnitTopicName: Name of the HeadIKUnit Topic
# Attributes:
# - Default: HeadIKUnitTopic
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.HeadIKUnit.HeadIKUnitTopicName = HeadIKUnitTopic
# ArmarX.HeadIKUnit.KinematicUnitName: Name of the KinematicUnit Proxy
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.HeadIKUnit.KinematicUnitName = "Armar3KinematicUnit"
@@ -108,15 +111,16 @@ ArmarX.HeadIKUnit.KinematicUnitName = "Armar3KinematicUnit"
# ArmarX.HeadIKUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.HeadIKUnit.MinimumLoggingLevel = Undefined
# ArmarX.HeadIKUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.HeadIKUnit.ObjectName = ""
@@ -124,47 +128,74 @@ ArmarX.HeadIKUnit.KinematicUnitName = "Armar3KinematicUnit"
# ArmarX.HeadIKUnit.RobotStateComponentName: Name of the RobotStateComponent that should be used
# Attributes:
# - Default: RobotStateComponent
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.HeadIKUnit.RobotStateComponentName = RobotStateComponent
# ArmarX.HeadIKUnit.VisualizeIKTarget: Visualize the current IK target using the debug drawer
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.HeadIKUnit.VisualizeIKTarget = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HeadIKUnit.VisualizeIKTarget = true
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -172,27 +203,26 @@ ArmarX.HeadIKUnit.KinematicUnitName = "Armar3KinematicUnit"
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg b/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
index 27c3fd1cdcd500c43a9c7bb321a87810ddf34da5..3453b44e5acc84783527afd10a8354c107048c25 100644
--- a/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/KinematicUnitObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,47 +53,51 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.KinematicUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.KinematicUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitObserver.EnableProfiling = false
# ArmarX.KinematicUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitObserver.MaxHistoryRecordFrequency = 50
@@ -101,7 +105,7 @@
# ArmarX.KinematicUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitObserver.MaxHistorySize = 5000
@@ -109,22 +113,23 @@
# ArmarX.KinematicUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.KinematicUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.KinematicUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.KinematicUnitObserver.ObjectName = Armar3KinematicUnitObserver
# ArmarX.KinematicUnitObserver.RobotFileName: Robot file name, e.g. robot_model.xml
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.KinematicUnitObserver.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
@@ -132,46 +137,80 @@ ArmarX.KinematicUnitObserver.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
# ArmarX.KinematicUnitObserver.RobotFileNameProject: Project in which the robot filename is located (if robot is loaded from an external project)
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitObserver.RobotFileNameProject = ""
# ArmarX.KinematicUnitObserver.RobotNodeSetName: Robot node set name as defined in robot xml file, e.g. 'LeftArm'
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.KinematicUnitObserver.RobotNodeSetName = Robot
+# ArmarX.KinematicUnitObserver.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitObserver.TopicPrefix = ""
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -179,27 +218,26 @@ ArmarX.KinematicUnitObserver.RobotNodeSetName = Robot
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg b/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
index 58f4dfb11b39601df39f1461cd17dd9435783460..b2559b37d8d20773348abdcf7abb1aa8f921a867 100644
--- a/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/KinematicUnitSimulation.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,39 +53,42 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.KinematicUnitSimulation.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitSimulation.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitSimulation.EnableProfiling = false
# ArmarX.KinematicUnitSimulation.IntervalMs: The time in milliseconds between two calls to the simulation method.
# Attributes:
# - Default: 10
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.IntervalMs = 10
@@ -93,7 +96,7 @@
# ArmarX.KinematicUnitSimulation.Kd: derivative gain of the PID position controller.
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Kd = 0
@@ -101,7 +104,7 @@
# ArmarX.KinematicUnitSimulation.Ki: integral gain of the PID position controller.
# Attributes:
# - Default: 0.00100000005
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Ki = 0.00100000005
@@ -109,7 +112,7 @@
# ArmarX.KinematicUnitSimulation.Kp: proportional gain of the PID position controller.
# Attributes:
# - Default: 3
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Kp = 3
@@ -117,15 +120,16 @@
# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.KinematicUnitSimulation.MinimumLoggingLevel = Undefined
# ArmarX.KinematicUnitSimulation.Noise: Gaussian noise is added to the velocity. Value in Degree
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.Noise = 0
@@ -133,14 +137,14 @@
# ArmarX.KinematicUnitSimulation.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.KinematicUnitSimulation.ObjectName = Armar3KinematicUnit
# ArmarX.KinematicUnitSimulation.RobotFileName: Robot file name, e.g. robot_model.xml
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.KinematicUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
@@ -148,54 +152,89 @@ ArmarX.KinematicUnitSimulation.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.x
# ArmarX.KinematicUnitSimulation.RobotFileNameProject: Project in which the robot filename is located (if robot is loaded from an external project)
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.KinematicUnitSimulation.RobotFileNameProject = ""
# ArmarX.KinematicUnitSimulation.RobotNodeSetName: Robot node set name as defined in robot xml file, e.g. 'LeftArm'
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.KinematicUnitSimulation.RobotNodeSetName = Robot
+# ArmarX.KinematicUnitSimulation.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.KinematicUnitSimulation.TopicPrefix = ""
+
+
# ArmarX.KinematicUnitSimulation.UsePDControllerForJointControl: If true a PD controller is also used in Position Mode instead of setting the joint angles instantly
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.KinematicUnitSimulation.UsePDControllerForJointControl = true
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.KinematicUnitSimulation.UsePDControllerForJointControl = 1
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -203,27 +242,26 @@ ArmarX.KinematicUnitSimulation.RobotNodeSetName = Robot
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg b/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
index 2176d818ff620825be25e4624e2a80a692342192..6abd40cd6c6316b193cc33e4f5014f0752f736c4 100644
--- a/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/RobotStateComponent.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,62 +53,90 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
# ArmarX.RobotStateComponent.AgentName: Name of the agent for which the sensor values are provided
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.RobotStateComponent.AgentName = Armar3
# ArmarX.RobotStateComponent.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateComponent.EnableProfiling = false
+
+
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName: Topic where the global robot pose can be reported.
+# Attributes:
+# - Default: GlobalRobotPoseLocalization
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateComponent.EnableProfiling = 0
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName = GlobalRobotPoseLocalization
# ArmarX.RobotStateComponent.HistoryLength: Number of entries in the robot state history
# Attributes:
# - Default: 10000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateComponent.HistoryLength = 10000
@@ -116,22 +144,31 @@ ArmarX.RobotStateComponent.AgentName = Armar3
# ArmarX.RobotStateComponent.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.RobotStateComponent.MinimumLoggingLevel = Undefined
# ArmarX.RobotStateComponent.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.RobotStateComponent.ObjectName = RobotStateComponent
+# ArmarX.RobotStateComponent.PlatformTopicName: Topic where platform state is published.
+# Attributes:
+# - Default: PlatformState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.PlatformTopicName = PlatformState
+
+
# ArmarX.RobotStateComponent.RobotFileName: Filename of VirtualRobot robot model (e.g. robot_model.xml)
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.RobotStateComponent.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
@@ -139,14 +176,14 @@ ArmarX.RobotStateComponent.RobotFileName = RobotAPI/robots/Armar3/ArmarIII.xml
# ArmarX.RobotStateComponent.RobotModelScaling: Scaling of the robot model
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateComponent.RobotModelScaling = 1
# ArmarX.RobotStateComponent.RobotNodeSetName: Set of nodes that is controlled by the KinematicUnit
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.RobotStateComponent.RobotNodeSetName = Robot
@@ -154,31 +191,41 @@ ArmarX.RobotStateComponent.RobotNodeSetName = Robot
# ArmarX.RobotStateComponent.RobotStateReportingTopic: Name of the topic on which updates of the robot state are reported.
# Attributes:
# - Default: RobotStateUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateComponent.RobotStateReportingTopic = RobotStateUpdates
+# ArmarX.RobotStateComponent.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.TopicPrefix = ""
+
+
# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.RobotStateObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RobotStateObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateObserver.EnableProfiling = false
# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency = 50
@@ -186,7 +233,7 @@ ArmarX.RobotStateComponent.RobotNodeSetName = Robot
# ArmarX.RobotStateObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.MaxHistorySize = 5000
@@ -194,15 +241,16 @@ ArmarX.RobotStateComponent.RobotNodeSetName = Robot
# ArmarX.RobotStateObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.RobotStateObserver.MinimumLoggingLevel = Undefined
# ArmarX.RobotStateObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.ObjectName = ""
@@ -210,23 +258,32 @@ ArmarX.RobotStateComponent.RobotNodeSetName = Robot
# ArmarX.RobotStateObserver.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RobotStateObserver.TCPsToReport = ""
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -234,27 +291,26 @@ ArmarX.RobotStateComponent.RobotNodeSetName = Robot
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg b/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
index 2a0fc587080ec84309c0bb0423e64269501940ca..d69f324c7f1086729bb37710661ad90790b5abe6 100644
--- a/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/SystemObserver.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,71 +53,101 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.SystemObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.SystemObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SystemObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.SystemObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.SystemObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SystemObserver.EnableProfiling = false
# ArmarX.SystemObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SystemObserver.MaxHistoryRecordFrequency = 50
@@ -125,7 +155,7 @@
# ArmarX.SystemObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SystemObserver.MaxHistorySize = 5000
@@ -133,15 +163,16 @@
# ArmarX.SystemObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.SystemObserver.MinimumLoggingLevel = Undefined
# ArmarX.SystemObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SystemObserver.ObjectName = ""
@@ -149,7 +180,7 @@
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -157,27 +188,26 @@
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg b/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
index 99111a63613a00d16d5bd0cda901a4126dcb77ef..0c50143d8f1a1631ebd18b34810c5d8d2c583c8e 100644
--- a/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
+++ b/scenarios/KinematicSimulationArmar3/config/TCPControlUnit.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,70 +53,99 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
# ArmarX.TCPControlUnit.CycleTime: Cycle time of the tcp control in ms
# Attributes:
# - Default: 30
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnit.CycleTime = 30
# ArmarX.TCPControlUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.TCPControlUnit.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.TCPControlUnit.EnableProfiling = false
# ArmarX.TCPControlUnit.KinematicUnitName: Name of the KinematicUnit Proxy
# Attributes:
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: yes
ArmarX.TCPControlUnit.KinematicUnitName = Armar3KinematicUnit
@@ -124,7 +153,7 @@ ArmarX.TCPControlUnit.KinematicUnitName = Armar3KinematicUnit
# ArmarX.TCPControlUnit.LambdaDampedSVD: Parameter used for smoothing the differential IK near singularities.
# Attributes:
# - Default: 0.100000001
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnit.LambdaDampedSVD = 0.100000001
@@ -132,7 +161,7 @@ ArmarX.TCPControlUnit.KinematicUnitName = Armar3KinematicUnit
# ArmarX.TCPControlUnit.MaxJointVelocity: Maximal joint velocity in rad/sec
# Attributes:
# - Default: 0.523500025
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnit.MaxJointVelocity = 0.523500025
@@ -148,15 +177,16 @@ ArmarX.TCPControlUnit.MaximumCommandDelay = 500
# ArmarX.TCPControlUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.TCPControlUnit.MinimumLoggingLevel = Undefined
# ArmarX.TCPControlUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnit.ObjectName = ""
@@ -164,7 +194,7 @@ ArmarX.TCPControlUnit.MaximumCommandDelay = 500
# ArmarX.TCPControlUnit.RobotStateComponentName: Name of the RobotStateComponent that should be used
# Attributes:
# - Default: RobotStateComponent
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnit.RobotStateComponentName = RobotStateComponent
@@ -172,7 +202,7 @@ ArmarX.TCPControlUnit.MaximumCommandDelay = 500
# ArmarX.TCPControlUnit.RobotStateTopicName: Name of the RobotComponent State topic.
# Attributes:
# - Default: RobotState
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnit.RobotStateTopicName = RobotState
@@ -180,7 +210,7 @@ ArmarX.TCPControlUnit.MaximumCommandDelay = 500
# ArmarX.TCPControlUnit.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.TCPControlUnit.TCPsToReport = TCP R,TCP L
@@ -195,24 +225,26 @@ ArmarX.TCPControlUnit.inheritFrom = RobotConfig
# ArmarX.TCPControlUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.TCPControlUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.TCPControlUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.TCPControlUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.TCPControlUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.TCPControlUnitObserver.EnableProfiling = false
# ArmarX.TCPControlUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnitObserver.MaxHistoryRecordFrequency = 50
@@ -220,7 +252,7 @@ ArmarX.TCPControlUnit.inheritFrom = RobotConfig
# ArmarX.TCPControlUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnitObserver.MaxHistorySize = 5000
@@ -228,15 +260,16 @@ ArmarX.TCPControlUnit.inheritFrom = RobotConfig
# ArmarX.TCPControlUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.TCPControlUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.TCPControlUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TCPControlUnitObserver.ObjectName = ""
@@ -244,7 +277,7 @@ ArmarX.TCPControlUnit.inheritFrom = RobotConfig
# ArmarX.TCPControlUnitObserver.TCPControlUnitName: Name of the TCPControlUnit
# Attributes:
# - Default: TCPControlUnit
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.TCPControlUnitObserver.TCPControlUnitName = TCPControlUnit
@@ -252,7 +285,7 @@ ArmarX.TCPControlUnitObserver.TCPControlUnitName = TCPControlUnit
# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
# Attributes:
# - Default: 1
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ThreadPoolSize = 1
@@ -260,27 +293,26 @@ ArmarX.TCPControlUnitObserver.TCPControlUnitName = TCPControlUnit
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/LaserScannerTest/LaserScannerTest.scx b/scenarios/LaserScannerTest/LaserScannerTest.scx
index 585406ce7b9f493cb159af1da819db3a56a03a17..547aaca55f3f17c017b22846b4e26e6d2a0a0bd7 100644
--- a/scenarios/LaserScannerTest/LaserScannerTest.scx
+++ b/scenarios/LaserScannerTest/LaserScannerTest.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="LaserScannerTest" creation="2017-03-07.16:12:47" lastChange="2017-03-07.16:12:47" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="HokuyoLaserUnitApp" instance="" package="RobotAPI" enabled="true"/>
- <application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI" enabled="true"/>
+<scenario name="LaserScannerTest" creation="2017-03-07.16:12:47" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="HokuyoLaserUnitApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
index effbf0059a3f5aee7da7b6aa9b5d3b7b46c9194c..64f5c48c04cd7febdaa8c31cf99d2d8a8a1bb69a 100644
--- a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
+++ b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,55 +53,66 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.HokuyoLaserUnit.AngleOffset: Offset is applied the raw angles before reporting them
# Attributes:
# - Default: -2.3561945
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.HokuyoLaserUnit.AngleOffset = 0
+# ArmarX.HokuyoLaserUnit.DebugObserverName: Name of the topic the DebugObserver listens on
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HokuyoLaserUnit.DebugObserverName = DebugObserver
+
+
# ArmarX.HokuyoLaserUnit.Devices: List of devices in form of 'IP1,port1,frame1;IP2,port2,frame2;...'
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.HokuyoLaserUnit.Devices = "192.168.0.11,10940,Laser Scanner A"
# ArmarX.HokuyoLaserUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.HokuyoLaserUnit.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.HokuyoLaserUnit.EnableProfiling = false
# ArmarX.HokuyoLaserUnit.LaserScannerTopicName: Name of the laser scan topic.
# Attributes:
# - Default: LaserScans
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.HokuyoLaserUnit.LaserScannerTopicName = LaserScans
@@ -109,75 +120,117 @@ ArmarX.HokuyoLaserUnit.Devices = "192.168.0.11,10940,Laser Scanner A"
# ArmarX.HokuyoLaserUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.HokuyoLaserUnit.MinimumLoggingLevel = Undefined
# ArmarX.HokuyoLaserUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.HokuyoLaserUnit.ObjectName = ""
+# ArmarX.HokuyoLaserUnit.RobotHealthTopicName: Name of the RobotHealth topic
+# Attributes:
+# - Default: RobotHealthTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.HokuyoLaserUnit.RobotHealthTopicName = RobotHealthTopic
+
+
# ArmarX.HokuyoLaserUnit.UpdatePeriod: Update period for laser scans
# Attributes:
# - Default: 25
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.HokuyoLaserUnit.UpdatePeriod = 25
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg b/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg
index 5d4e2e744baf2c25a947db4ca667f51c39fcd31d..18521b1447699a031af7d198c2de4138876681b0 100644
--- a/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg
+++ b/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,47 +53,51 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
# ArmarX.LaserScannerUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.LaserScannerUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.LaserScannerUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.LaserScannerUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.LaserScannerUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.LaserScannerUnitObserver.EnableProfiling = false
# ArmarX.LaserScannerUnitObserver.LaserScannerTopicName: Name of the laser scan topic.
# Attributes:
# - Default: LaserScans
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.LaserScannerUnitObserver.LaserScannerTopicName = LaserScans
@@ -101,7 +105,7 @@
# ArmarX.LaserScannerUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.LaserScannerUnitObserver.MaxHistoryRecordFrequency = 50
@@ -109,7 +113,7 @@
# ArmarX.LaserScannerUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.LaserScannerUnitObserver.MaxHistorySize = 5000
@@ -117,67 +121,101 @@
# ArmarX.LaserScannerUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.LaserScannerUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.LaserScannerUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.LaserScannerUnitObserver.ObjectName = ""
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/LaserScannerTest/config/global.cfg b/scenarios/LaserScannerTest/config/global.cfg
index e7cd7f67055d284001fc7ac3ad93ed5b65719366..da3749d6a9b63fb9ed9fbd07a656ad368cf3b70f 100644
--- a/scenarios/LaserScannerTest/config/global.cfg
+++ b/scenarios/LaserScannerTest/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario LaserScannerTest
# ==================================================================
-
-
-
diff --git a/scenarios/MetaWearIMU/MetaWearIMU.scx b/scenarios/MetaWearIMU/MetaWearIMU.scx
index 4afe52b26fe45ded4c69195a340be4ff2e887462..05d9a0606dc7fd4416dd0814dcb8cb316480b2c6 100644
--- a/scenarios/MetaWearIMU/MetaWearIMU.scx
+++ b/scenarios/MetaWearIMU/MetaWearIMU.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="MetaWearIMU" creation="2017-04-13.11:40:16" lastChange="2017-04-13.11:40:16" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="MetaWearIMUObserverApp" instance="" package="RobotAPI" enabled="true"/>
- <application name="MetaWearIMUApp" instance="" package="RobotAPI" enabled="true"/>
+<scenario name="MetaWearIMU" creation="2017-04-13.11:40:16" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="MetaWearIMUObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="MetaWearIMUApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/MetaWearIMU/config/MetaWearIMUApp.cfg b/scenarios/MetaWearIMU/config/MetaWearIMUApp.cfg
index 4adf5c5a0a56e6483a81abe9cd1e9f3d9356ae0d..58bce68174d02d9da4d0846df9150e8ffa246e28 100644
--- a/scenarios/MetaWearIMU/config/MetaWearIMUApp.cfg
+++ b/scenarios/MetaWearIMU/config/MetaWearIMUApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,39 +53,58 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.MetaWearIMU.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.MetaWearIMU.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MetaWearIMU.EnableProfiling = false
# ArmarX.MetaWearIMU.MetaWearPythonTopicName: Name of the topic provided by the python driver
# Attributes:
# - Default: MetaWearPythonData
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMU.MetaWearPythonTopicName = MetaWearPythonData
@@ -93,7 +112,7 @@
# ArmarX.MetaWearIMU.MetaWearTopicName: Name of the MetaWear topic
# Attributes:
# - Default: MetaWearData
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMU.MetaWearTopicName = MetaWearData
@@ -101,72 +120,85 @@
# ArmarX.MetaWearIMU.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.MetaWearIMU.MinimumLoggingLevel = Undefined
# ArmarX.MetaWearIMU.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMU.ObjectName = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-# Ice.Config: Custom Property
-# Attributes:
-# - Default: ::NOT_DEFINED::
-# - Case sensitivity: no
-# - Required: no
-# Ice.Config = ::NOT_DEFINED::
-
-
diff --git a/scenarios/MetaWearIMU/config/MetaWearIMUObserverApp.cfg b/scenarios/MetaWearIMU/config/MetaWearIMUObserverApp.cfg
index bb94180a49d314a787823ff999e94fc8b0307a6f..0132d7f4ea59cd62d07a3d69c87b3ccec1bdda9b 100644
--- a/scenarios/MetaWearIMU/config/MetaWearIMUObserverApp.cfg
+++ b/scenarios/MetaWearIMU/config/MetaWearIMUObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,55 +53,75 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoggingGroup = ""
# ArmarX.MetaWearIMUObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.MetaWearIMUObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MetaWearIMUObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.MetaWearIMUObserver.DebugDrawerTopic: Name of the DebugDrawerTopic
# Attributes:
# - Default: DebugDrawerUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMUObserver.DebugDrawerTopic = DebugDrawerUpdates
# ArmarX.MetaWearIMUObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.MetaWearIMUObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MetaWearIMUObserver.EnableProfiling = false
# ArmarX.MetaWearIMUObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMUObserver.MaxHistoryRecordFrequency = 50
@@ -109,7 +129,7 @@
# ArmarX.MetaWearIMUObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMUObserver.MaxHistorySize = 5000
@@ -117,7 +137,7 @@
# ArmarX.MetaWearIMUObserver.MetaWearTopicName: Name of the MetaWear topic
# Attributes:
# - Default: MetaWearData
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMUObserver.MetaWearTopicName = MetaWearData
@@ -125,72 +145,85 @@
# ArmarX.MetaWearIMUObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.MetaWearIMUObserver.MinimumLoggingLevel = Undefined
# ArmarX.MetaWearIMUObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.MetaWearIMUObserver.ObjectName = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-# Ice.Config: Custom Property
-# Attributes:
-# - Default: ::NOT_DEFINED::
-# - Case sensitivity: no
-# - Required: no
-# Ice.Config = ::NOT_DEFINED::
-
-
diff --git a/scenarios/MetaWearIMU/config/global.cfg b/scenarios/MetaWearIMU/config/global.cfg
index 920e0209bf12c5a70461bba6c6c29d502509dc5a..f8a325d20ac1a093ecf08cbcdaefccf9ca8f6a0e 100644
--- a/scenarios/MetaWearIMU/config/global.cfg
+++ b/scenarios/MetaWearIMU/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario MetaWearIMU
# ==================================================================
-
-
-
diff --git a/scenarios/OptoForceUnit/OptoForceUnit.scx b/scenarios/OptoForceUnit/OptoForceUnit.scx
index 7ede5163dd4f93b710a65fd62f967a26a873b55d..2a6faf6a99c0d378a294a2aea80679584a4d7ca4 100644
--- a/scenarios/OptoForceUnit/OptoForceUnit.scx
+++ b/scenarios/OptoForceUnit/OptoForceUnit.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="OptoForceUnit" lastChange="2017-03-27.17:45:06" creation="2017-03-03.15:11:40" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="OptoForceUnitApp" instance="" package="RobotAPI"/>
- <application name="OptoForceUnitObserverApp" instance="" package="RobotAPI"/>
+<scenario name="OptoForceUnit" creation="2017-03-03.15:11:40" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="OptoForceUnitApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="OptoForceUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/OptoForceUnit/config/OptoForceUnitApp.cfg b/scenarios/OptoForceUnit/config/OptoForceUnitApp.cfg
index d51959056fafd226f9d542f64262a96e5e9384c5..e9e94f31ca1fc94d8eb1bbc6a6c99d66272419ff 100644
--- a/scenarios/OptoForceUnit/config/OptoForceUnitApp.cfg
+++ b/scenarios/OptoForceUnit/config/OptoForceUnitApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,55 +53,75 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.OptoForceUnit.CalibrationFilePath: Path of the Calibration File
# Attributes:
# - Default: RobotAPI/sensors/OptoForceCalibration.xml
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnit.CalibrationFilePath = RobotAPI/sensors/OptoForceCalibration.xml
# ArmarX.OptoForceUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.OptoForceUnit.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.OptoForceUnit.EnableProfiling = false
# ArmarX.OptoForceUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.OptoForceUnit.MinimumLoggingLevel = Undefined
# ArmarX.OptoForceUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnit.ObjectName = ""
@@ -109,59 +129,76 @@
# ArmarX.OptoForceUnit.OptoForceTopicName: Name of the OptoForce Topic
# Attributes:
# - Default: OptoForceValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnit.OptoForceTopicName = OptoForceValues
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/OptoForceUnit/config/OptoForceUnitObserverApp.cfg b/scenarios/OptoForceUnit/config/OptoForceUnitObserverApp.cfg
index 71109dc9a07bf3dc11d6e36a9b603ad2abba1b4d..5668a05ad7516485b79beb19520eeae14a36da03 100644
--- a/scenarios/OptoForceUnit/config/OptoForceUnitObserverApp.cfg
+++ b/scenarios/OptoForceUnit/config/OptoForceUnitObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,55 +53,75 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.OptoForceUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.OptoForceUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.OptoForceUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.OptoForceUnitObserver.DebugDrawerTopic: Name of the DebugDrawerTopic
# Attributes:
# - Default: DebugDrawerUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnitObserver.DebugDrawerTopic = DebugDrawerUpdates
# ArmarX.OptoForceUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.OptoForceUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.OptoForceUnitObserver.EnableProfiling = false
# ArmarX.OptoForceUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnitObserver.MaxHistoryRecordFrequency = 50
@@ -109,7 +129,7 @@
# ArmarX.OptoForceUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnitObserver.MaxHistorySize = 5000
@@ -117,15 +137,16 @@
# ArmarX.OptoForceUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.OptoForceUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.OptoForceUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnitObserver.ObjectName = ""
@@ -133,59 +154,76 @@
# ArmarX.OptoForceUnitObserver.OptoForceTopicName: Name of the OptoForce Topic
# Attributes:
# - Default: OptoForceValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OptoForceUnitObserver.OptoForceTopicName = OptoForceValues
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/OptoForceUnit/config/global.cfg b/scenarios/OptoForceUnit/config/global.cfg
index 4602696c2afa4afbeb2dc4495d91705b6bfb5e46..cd7d0de8682b684940ebf78c7d279b563654b043 100644
--- a/scenarios/OptoForceUnit/config/global.cfg
+++ b/scenarios/OptoForceUnit/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario OptoForceUnit
# ==================================================================
-
-
-
diff --git a/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx b/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx
index 23c06bee20258339aa1284f1d0c6d9ba2bef21ff..dd526ac62d38cac7b164bedfb307b7658597190b 100644
--- a/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx
+++ b/scenarios/OrientedTactileSensor/OrientedTactileSensor.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="OrientedTactileSensor" creation="2017-02-27.01:48:55 PM" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="OrientedTactileSensorUnitApp" instance="" package="RobotAPI" enabled="true"/>
- <application name="OrientedTactileSensorUnitObserverApp" instance="" package="RobotAPI" enabled="true"/>
+<scenario name="OrientedTactileSensor" creation="2017-02-27.01:48:55 PM" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="OrientedTactileSensorUnitApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="OrientedTactileSensorUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg b/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg
index 01ddb0e7eb3ba7c1413f097f884ed698ec30bd0c..3e751800aa2bcd2678d440a4db01366686464168 100644
--- a/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg
+++ b/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,31 +53,49 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.OrientedTactileSensorUnit.CalibrationData: Sensor Register Data to calibrate the sensor
# Attributes:
# - Default: 65524 3 12 65534 65534 1 1208 119 58726 1000 943
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.OrientedTactileSensorUnit.CalibrationData = 65535 65535 65535 65535 65535 65535 65535 65535 65535 65535 65535
@@ -85,31 +103,33 @@ ArmarX.OrientedTactileSensorUnit.CalibrationData = 65535 65535 65535 65535 65535
# ArmarX.OrientedTactileSensorUnit.DebugDrawerTopicName: Name of the debug drawer topic that should be used
# Attributes:
# - Default: DebugDrawerUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OrientedTactileSensorUnit.DebugDrawerTopicName = DebugDrawerUpdates
# ArmarX.OrientedTactileSensorUnit.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.OrientedTactileSensorUnit.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.OrientedTactileSensorUnit.EnableProfiling = false
# ArmarX.OrientedTactileSensorUnit.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.OrientedTactileSensorUnit.MinimumLoggingLevel = Undefined
# ArmarX.OrientedTactileSensorUnit.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OrientedTactileSensorUnit.ObjectName = ""
@@ -117,7 +137,7 @@ ArmarX.OrientedTactileSensorUnit.CalibrationData = 65535 65535 65535 65535 65535
# ArmarX.OrientedTactileSensorUnit.SamplesAcceleration: number of pressure values to differentiate
# Attributes:
# - Default: 20
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.OrientedTactileSensorUnit.SamplesAcceleration = 20
@@ -125,7 +145,7 @@ ArmarX.OrientedTactileSensorUnit.SamplesAcceleration = 20
# ArmarX.OrientedTactileSensorUnit.SamplesPressure: number of pressure values to differentiate
# Attributes:
# - Default: 10
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.OrientedTactileSensorUnit.SamplesPressure = 20
@@ -133,7 +153,7 @@ ArmarX.OrientedTactileSensorUnit.SamplesPressure = 20
# ArmarX.OrientedTactileSensorUnit.SamplesRotation: number of orientation values to differentiate
# Attributes:
# - Default: 20
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.OrientedTactileSensorUnit.SamplesRotation = 20
@@ -141,7 +161,7 @@ ArmarX.OrientedTactileSensorUnit.SamplesRotation = 20
# ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice: The serial device the arduino is connected to.
# Attributes:
# - Default: /dev/ttyACM0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice = /dev/ttyACM0
@@ -149,75 +169,94 @@ ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice = /dev/ttyACM0
# ArmarX.OrientedTactileSensorUnit.TopicName: Name of the topic on which the sensor values are provided
# Attributes:
# - Default: OrientedTactileSensorValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.OrientedTactileSensorUnit.TopicName = OrientedTactileSensorValues
# ArmarX.OrientedTactileSensorUnit.calibrateSensor:
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.OrientedTactileSensorUnit.calibrateSensor = 0
-# ArmarX.OrientedTactileSensorUnit.logData: Custom Property
+# ArmarX.OrientedTactileSensorUnit.logData: log data from sensor
# Attributes:
-# - Default: ::NOT_DEFINED::
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
ArmarX.OrientedTactileSensorUnit.logData = 1
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitObserverApp.cfg b/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitObserverApp.cfg
index 5f35ab28581e987287c8ed60661bc575f4a73d26..994775b29c66c9cb496a27e53bb84b10749de87e 100644
--- a/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitObserverApp.cfg
+++ b/scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,23 +13,23 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
-# ArmarX.CachePath: Path for cache files
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.CachePath = mongo/.cache
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,55 +53,75 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.OrientedTactileSensorUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.OrientedTactileSensorUnitObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.OrientedTactileSensorUnitObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.OrientedTactileSensorUnitObserver.DebugDrawerTopic: Name of the DebugDrawerTopic
# Attributes:
# - Default: DebugDrawerUpdates
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OrientedTactileSensorUnitObserver.DebugDrawerTopic = DebugDrawerUpdates
# ArmarX.OrientedTactileSensorUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.OrientedTactileSensorUnitObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.OrientedTactileSensorUnitObserver.EnableProfiling = false
# ArmarX.OrientedTactileSensorUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OrientedTactileSensorUnitObserver.MaxHistoryRecordFrequency = 50
@@ -109,7 +129,7 @@
# ArmarX.OrientedTactileSensorUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OrientedTactileSensorUnitObserver.MaxHistorySize = 5000
@@ -117,15 +137,16 @@
# ArmarX.OrientedTactileSensorUnitObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.OrientedTactileSensorUnitObserver.MinimumLoggingLevel = Undefined
# ArmarX.OrientedTactileSensorUnitObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OrientedTactileSensorUnitObserver.ObjectName = ""
@@ -133,59 +154,76 @@
# ArmarX.OrientedTactileSensorUnitObserver.SensorTopicName: Name of the Sensor Topic.
# Attributes:
# - Default: OrientedTactileSensorValues
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.OrientedTactileSensorUnitObserver.SensorTopicName = OrientedTactileSensorValues
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/OrientedTactileSensor/config/global.cfg b/scenarios/OrientedTactileSensor/config/global.cfg
index e3da6095b2689ee8257c2909a5ed2df0107a2d64..220494ff40d1fadca85b5cdb65e4083c1ac4502c 100644
--- a/scenarios/OrientedTactileSensor/config/global.cfg
+++ b/scenarios/OrientedTactileSensor/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario OrientedTactileSensor
# ==================================================================
-
-
-
diff --git a/scenarios/SpeechObserver/SpeechObserver.scx b/scenarios/SpeechObserver/SpeechObserver.scx
index 367b1f68d6adef579c1cf8725d272a7bfcb58f10..a224960f4c2975113ebdc8a6d006ca69b635f776 100644
--- a/scenarios/SpeechObserver/SpeechObserver.scx
+++ b/scenarios/SpeechObserver/SpeechObserver.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="SpeechObserver" creation="2018-05-24.11:20:15" globalConfigName="./config/global.cfg" package="RobotAPI">
- <application name="SpeechObserverApp" instance="" package="RobotAPI" enabled="true"/>
- <application name="DummyTextToSpeechApp" instance="" package="RobotAPI" enabled="true"/>
+<scenario name="SpeechObserver" creation="2018-05-24.11:20:15" globalConfigName="./config/global.cfg" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="SpeechObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="DummyTextToSpeechApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/SpeechObserver/config/DummyTextToSpeechApp.cfg b/scenarios/SpeechObserver/config/DummyTextToSpeechApp.cfg
index 3c85bf5a6253068d42ac8313f9d638292365fba6..76e570e09c7f1edcb5ebf61b7956e1e919e8a432 100644
--- a/scenarios/SpeechObserver/config/DummyTextToSpeechApp.cfg
+++ b/scenarios/SpeechObserver/config/DummyTextToSpeechApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,39 +53,42 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.DummyTextToSpeech.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DummyTextToSpeech.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DummyTextToSpeech.EnableProfiling = false
# ArmarX.DummyTextToSpeech.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.DummyTextToSpeech.MinimumLoggingLevel = Undefined
# ArmarX.DummyTextToSpeech.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DummyTextToSpeech.ObjectName = ""
@@ -93,7 +96,7 @@
# ArmarX.DummyTextToSpeech.TextToSpeechStateTopicName: Name of the TextToSpeechStateTopic
# Attributes:
# - Default: TextToSpeechState
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DummyTextToSpeech.TextToSpeechStateTopicName = TextToSpeechState
@@ -101,67 +104,101 @@
# ArmarX.DummyTextToSpeech.TextToSpeechTopicName: Name of the TextToSpeechTopic
# Attributes:
# - Default: TextToSpeech
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DummyTextToSpeech.TextToSpeechTopicName = TextToSpeech
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/SpeechObserver/config/SpeechObserverApp.cfg b/scenarios/SpeechObserver/config/SpeechObserverApp.cfg
index 50707e2925a493f4738f89185082ef340a3f5f43..5b538af11e1dd5d44d4bc71fb540c6a97bcaa627 100644
--- a/scenarios/SpeechObserver/config/SpeechObserverApp.cfg
+++ b/scenarios/SpeechObserver/config/SpeechObserverApp.cfg
@@ -5,7 +5,7 @@
# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.AdditionalPackages = Default value not mapped.
@@ -13,7 +13,7 @@
# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.ApplicationName = ""
@@ -21,7 +21,7 @@
# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
# - Default: mongo/.cache
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.CachePath = mongo/.cache
@@ -29,7 +29,7 @@
# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.Config = ""
@@ -37,7 +37,7 @@
# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DataPath = ""
@@ -45,7 +45,7 @@
# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
# Attributes:
# - Default: Default value not mapped.
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DefaultPackages = Default value not mapped.
@@ -53,63 +53,92 @@
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
# ArmarX.DisableLogging: Turn logging off in whole application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DisableLogging = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.EnableProfiling = 0
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Default: 1
-# - Case sensitivity: no
+# - Default: true
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.RedirectStdout = 1
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
# Attributes:
# - Default: 3000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.RemoteHandlesDeletionTimeout = 3000
-# ArmarX.SpeechObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.SpeechObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.SpeechObserver.CreateUpdateFrequenciesChannel = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SpeechObserver.CreateUpdateFrequenciesChannel = false
# ArmarX.SpeechObserver.EnableProfiling: enable profiler which is used for logging performance events
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.SpeechObserver.EnableProfiling = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.SpeechObserver.EnableProfiling = false
# ArmarX.SpeechObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
# Attributes:
# - Default: 50
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SpeechObserver.MaxHistoryRecordFrequency = 50
@@ -117,7 +146,7 @@
# ArmarX.SpeechObserver.MaxHistorySize: Maximum number of entries in the Observer history
# Attributes:
# - Default: 5000
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SpeechObserver.MaxHistorySize = 5000
@@ -125,15 +154,16 @@
# ArmarX.SpeechObserver.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.SpeechObserver.MinimumLoggingLevel = Undefined
# ArmarX.SpeechObserver.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SpeechObserver.ObjectName = ""
@@ -141,7 +171,7 @@
# ArmarX.SpeechObserver.TextToSpeechStateTopicName: Name of the TextToSpeechStateTopic
# Attributes:
# - Default: TextToSpeechState
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SpeechObserver.TextToSpeechStateTopicName = TextToSpeechState
@@ -149,43 +179,51 @@
# ArmarX.SpeechObserver.TextToSpeechTopicName: Name of the TextToSpeechTopic
# Attributes:
# - Default: TextToSpeech
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.SpeechObserver.TextToSpeechTopicName = TextToSpeech
# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.StartDebuggerOnCrash = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.TopicSuffix = ""
# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.UseTimeServer = 0
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
# ArmarX.Verbosity: Global logging level for whole application
# Attributes:
# - Default: Info
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.Verbosity = Info
-
-
-
diff --git a/scenarios/SpeechObserver/config/global.cfg b/scenarios/SpeechObserver/config/global.cfg
index d3d011a25603e96e555ff8368d49118c2f4fedac..914c73f3e9120102fbb240896b1ee8aeefbfbfd5 100644
--- a/scenarios/SpeechObserver/config/global.cfg
+++ b/scenarios/SpeechObserver/config/global.cfg
@@ -2,6 +2,3 @@
# Global Config from Scenario SpeechObserver
# ==================================================================
-
-
-
diff --git a/scenarios/TopicTimingTest/config/global.cfg b/scenarios/TopicTimingTest/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..80761308fe32d747d872f1e8b5c68101d7db4f1e
--- /dev/null
+++ b/scenarios/TopicTimingTest/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario TopicTimingTest
+# ==================================================================
+
diff --git a/scenarios/tests/DebugDrawerTest/DebugDrawerTest.scx b/scenarios/tests/DebugDrawerTest/DebugDrawerTest.scx
index 636d130976b2feaec232833d353890618f8b6b11..d66d464762f815f3df84b3f7031a49ba5fd442bb 100644
--- a/scenarios/tests/DebugDrawerTest/DebugDrawerTest.scx
+++ b/scenarios/tests/DebugDrawerTest/DebugDrawerTest.scx
@@ -1,3 +1,5 @@
-<scenario name='DebugDrawerTest' lastChange='2016-10-26.14:27:39' creation='2016-10-26.14:27:39' globalConfigName='' package='RobotAPI'>
-<application name='DebugDrawerTestApp' instance='' package='RobotAPI'/>
-</scenario>
\ No newline at end of file
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="DebugDrawerTest" creation="2016-10-26.14:27:39" globalConfigName="" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="DebugDrawerTestApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/tests/DebugDrawerTest/config/global.cfg b/scenarios/tests/DebugDrawerTest/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..8c7adf7c06ccaa0d670e7b1f2cd7d97721bf3d0f
--- /dev/null
+++ b/scenarios/tests/DebugDrawerTest/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario DebugDrawerTest
+# ==================================================================
+
diff --git a/scenarios/tests/InertialMeasurementUnit/InertialMeasurementUnit.scx b/scenarios/tests/InertialMeasurementUnit/InertialMeasurementUnit.scx
index ef3d386f1072934683e1bb7e2e24e0691f9d7d2c..1c557b40bb3dd4f1797dd5f5ad8af19e258b120c 100644
--- a/scenarios/tests/InertialMeasurementUnit/InertialMeasurementUnit.scx
+++ b/scenarios/tests/InertialMeasurementUnit/InertialMeasurementUnit.scx
@@ -1,4 +1,6 @@
-<scenario name='InertialMeasurementUnit' lastChange='2016-10-26.14:27:39' creation='2016-10-26.14:27:39' globalConfigName='' package='RobotAPI'>
-<application name='XsensIMUApp' instance='' package='RobotAPI'/>
-<application name='InertialMeasurementUnitObserverApp' instance='' package='RobotAPI'/>
-</scenario>
\ No newline at end of file
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="InertialMeasurementUnit" creation="2016-10-26.14:27:39" globalConfigName="" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="XsensIMUApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="InertialMeasurementUnitObserverApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/tests/InertialMeasurementUnit/config/global.cfg b/scenarios/tests/InertialMeasurementUnit/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..922c3633b078dcc3088fb3241e2dafb76e50217c
--- /dev/null
+++ b/scenarios/tests/InertialMeasurementUnit/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario InertialMeasurementUnit
+# ==================================================================
+
diff --git a/scenarios/tests/StatechartProfilesTestArmar3Simulation/StatechartProfilesTestArmar3Simulation.scx b/scenarios/tests/StatechartProfilesTestArmar3Simulation/StatechartProfilesTestArmar3Simulation.scx
index dbfdee6dd97723edaa2542eff74110a41574e45f..75eb82a72e9c857f7530490f3c7f22b3750c9d85 100644
--- a/scenarios/tests/StatechartProfilesTestArmar3Simulation/StatechartProfilesTestArmar3Simulation.scx
+++ b/scenarios/tests/StatechartProfilesTestArmar3Simulation/StatechartProfilesTestArmar3Simulation.scx
@@ -1,6 +1,8 @@
-<scenario name='StatechartProfilesTestArmar3Simulation' lastChange='2016-10-26.14:27:40' creation='2016-10-26.14:27:40' globalConfigName='' package='RobotAPI'>
-<application name='RobotControl' instance='' package='RobotAPI'/>
-<application name='XMLRemoteStateOfferer' instance='StatechartProfilesTestGroup' package='ArmarXCore'/>
-<application name='SystemObserver' instance='' package='ArmarXCore'/>
-<application name='ConditionHandler' instance='' package='ArmarXCore'/>
-</scenario>
\ No newline at end of file
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="StatechartProfilesTestArmar3Simulation" creation="2016-10-26.14:27:40" globalConfigName="" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="RobotControl" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="XMLRemoteStateOfferer" instance="StatechartProfilesTestGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SystemObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ConditionHandler" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg b/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
index 9565375d83dcc9706da6c8dbc17272d608ce81e4..d013b74f747f779921bf140bd2953f72d46465d7 100644
--- a/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
+++ b/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
@@ -1,108 +1,227 @@
# ==================================================================
-# ArmarX properties
+# XMLRemoteStateOfferer properties
# ==================================================================
-# ArmarX.CachePath: Path for cache files
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.AdditionalPackages = Default value not mapped.
-# ArmarX.DataPath: Semicolon-separated search list for data files
+# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DataPath = ""
+ArmarX.ApplicationName = "XMLStateComponentStatechartProfilesTestGroup"
-# ArmarX.Verbosity: Global logging level for whole application
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
+# ArmarX.CachePath = mongo/.cache
-# ArmarX.DisableLogging: Turn logging off in whole application
+# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
+# ArmarX.Config = ""
-# ArmarX.ApplicationName: Application name
+# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-ArmarX.ApplicationName = "XMLStateComponentStatechartProfilesTestGroup"
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
-# ArmarX.Config: Comma-separated list of configuration files
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.Config = ""
+# ArmarX.LoadLibraries = ""
-# ==================================================================
-# ArmarX.XMLStateComponent properties
-# ==================================================================
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
-# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml) - relative to projects source dir
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
-# ArmarX.XMLStateComponent.EnableProfiling: enable profiler which is used for logging performance events
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.XMLStateComponent.EnableProfiling = 0
+# ArmarX.StartDebuggerOnCrash = false
-# ArmarX.XMLStateComponent.XMLStatechartProfile: Profile to use for state execution. Should be the same for all Statechart Groups.
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-ArmarX.XMLStateComponent.XMLStatechartProfile = "Armar3Simulation"
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
+# ArmarX.XMLStateComponent.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.XMLStateComponent.EnableProfiling = false
# ArmarX.XMLStateComponent.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Info, Undefined, Verbose, Warning}
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.XMLStateComponent.MinimumLoggingLevel = Undefined
# ArmarX.XMLStateComponent.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.XMLStateComponent.ObjectName = "XMLStateComponentStatechartProfilesTestGroup"
+# ArmarX.XMLStateComponent.StateReportingTopic: Topic on which state changes are published. Leave empty to disable reporting.
+# Attributes:
+# - Default: StateReportingTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.StateReportingTopic = StateReportingTopic
+
+
+# ArmarX.XMLStateComponent.StatesToEnter: List of states that are directly entered and executed. Seperated by comma. These must not need any input parameters!
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.StatesToEnter = ""
+
+
+# ArmarX.XMLStateComponent.XMLRemoteStateOffererName: Name of the RemoteStateOfferer to start. The default name is [StatechartGroupName]RemoteStateOfferer.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.XMLRemoteStateOffererName = ""
+
+
+# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml) - relative to projects' source dir
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
+
+
+# ArmarX.XMLStateComponent.XMLStatechartProfile: Profile to use for state execution. Should be the same for all Statechart Groups in one scenario. This profile name is also added as a prefix to the Ice identifier of the RemoteStateOfferer of this statechart group.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.XMLStateComponent.XMLStatechartProfile = "Armar3Simulation"
+
diff --git a/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/global.cfg b/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..0d2fe6272ef11db7cbba1555cef69d0b1eeb7bfb
--- /dev/null
+++ b/scenarios/tests/StatechartProfilesTestArmar3Simulation/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario StatechartProfilesTestArmar3Simulation
+# ==================================================================
+
diff --git a/scenarios/tests/StatechartProfilesTestArmar3a/StatechartProfilesTestArmar3a.scx b/scenarios/tests/StatechartProfilesTestArmar3a/StatechartProfilesTestArmar3a.scx
index 94cff417517dcb62716f19a957dc331a8e3237c6..beaea909d2b272f6f7fcac22506fecff39674e87 100644
--- a/scenarios/tests/StatechartProfilesTestArmar3a/StatechartProfilesTestArmar3a.scx
+++ b/scenarios/tests/StatechartProfilesTestArmar3a/StatechartProfilesTestArmar3a.scx
@@ -1,6 +1,8 @@
-<scenario name='StatechartProfilesTestArmar3a' lastChange='2016-10-26.14:27:40' creation='2016-10-26.14:27:40' globalConfigName='' package='RobotAPI'>
-<application name='RobotControl' instance='' package='RobotAPI'/>
-<application name='XMLRemoteStateOfferer' instance='StatechartProfilesTestGroup' package='ArmarXCore'/>
-<application name='SystemObserver' instance='' package='ArmarXCore'/>
-<application name='ConditionHandler' instance='' package='ArmarXCore'/>
-</scenario>
\ No newline at end of file
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="StatechartProfilesTestArmar3a" creation="2016-10-26.14:27:40" globalConfigName="" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="RobotControl" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="XMLRemoteStateOfferer" instance="StatechartProfilesTestGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SystemObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ConditionHandler" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/tests/StatechartProfilesTestArmar3a/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg b/scenarios/tests/StatechartProfilesTestArmar3a/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
index 0bb4bca0af4de25ceb05bdfa335d003418917354..9a3b255aa544d74f95eb6efc675d6f5df13f2438 100644
--- a/scenarios/tests/StatechartProfilesTestArmar3a/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
+++ b/scenarios/tests/StatechartProfilesTestArmar3a/config/XMLRemoteStateOfferer.StatechartProfilesTestGroup.cfg
@@ -1,108 +1,227 @@
# ==================================================================
-# ArmarX properties
+# XMLRemoteStateOfferer properties
# ==================================================================
-# ArmarX.CachePath: Path for cache files
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
# Attributes:
-# - Default: ${HOME}/.armarx/mongo/.cache
-# - Case sensitivity: no
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+# ArmarX.AdditionalPackages = Default value not mapped.
-# ArmarX.DataPath: Semicolon-separated search list for data files
+# ArmarX.ApplicationName: Application name
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.DataPath = ""
+ArmarX.ApplicationName = "XMLStateComponentStatechartProfilesTestGroup"
-# ArmarX.Verbosity: Global logging level for whole application
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
# Attributes:
-# - Default: Verbose
-# - Case sensitivity: no
+# - Default: mongo/.cache
+# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.Verbosity = Verbose
+# ArmarX.CachePath = mongo/.cache
-# ArmarX.DisableLogging: Turn logging off in whole application
+# ArmarX.Config: Comma-separated list of configuration files
# Attributes:
-# - Default: 0
-# - Case sensitivity: no
+# - Default: ""
+# - Case sensitivity: yes
# - Required: no
-# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.DisableLogging = 0
+# ArmarX.Config = ""
-# ArmarX.ApplicationName: Application name
+# ArmarX.DataPath: Semicolon-separated search list for data files
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-ArmarX.ApplicationName = "XMLStateComponentStatechartProfilesTestGroup"
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
# Attributes:
# - Default: ./config/dependencies.cfg
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
# ArmarX.DependenciesConfig = ./config/dependencies.cfg
-# ArmarX.Config: Comma-separated list of configuration files
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# ArmarX.Config = ""
+# ArmarX.LoadLibraries = ""
-# ==================================================================
-# ArmarX.XMLStateComponent properties
-# ==================================================================
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
-# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml) - relative to projects source dir
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
# Attributes:
-# - Case sensitivity: no
-# - Required: yes
-ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
-# ArmarX.XMLStateComponent.EnableProfiling: enable profiler which is used for logging performance events
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
# Attributes:
# - Default: 0
-# - Case sensitivity: no
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
# - Required: no
# - Possible values: {0, 1, false, no, true, yes}
-# ArmarX.XMLStateComponent.EnableProfiling = 0
+# ArmarX.StartDebuggerOnCrash = false
-# ArmarX.XMLStateComponent.XMLStatechartProfile: Profile to use for state execution. Should be the same for all Statechart Groups.
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-ArmarX.XMLStateComponent.XMLStatechartProfile = "Armar3a"
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
+# ArmarX.XMLStateComponent.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.XMLStateComponent.EnableProfiling = false
# ArmarX.XMLStateComponent.MinimumLoggingLevel: Local logging level only for this component
# Attributes:
# - Default: Undefined
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
-# - Possible values: {Debug, Error, Fatal, Info, Undefined, Verbose, Warning}
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
# ArmarX.XMLStateComponent.MinimumLoggingLevel = Undefined
# ArmarX.XMLStateComponent.ObjectName: Name of IceGrid well-known object
# Attributes:
# - Default: ""
-# - Case sensitivity: no
+# - Case sensitivity: yes
# - Required: no
ArmarX.XMLStateComponent.ObjectName = "XMLStateComponentStatechartProfilesTestGroup"
+# ArmarX.XMLStateComponent.StateReportingTopic: Topic on which state changes are published. Leave empty to disable reporting.
+# Attributes:
+# - Default: StateReportingTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.StateReportingTopic = StateReportingTopic
+
+
+# ArmarX.XMLStateComponent.StatesToEnter: List of states that are directly entered and executed. Seperated by comma. These must not need any input parameters!
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.StatesToEnter = ""
+
+
+# ArmarX.XMLStateComponent.XMLRemoteStateOffererName: Name of the RemoteStateOfferer to start. The default name is [StatechartGroupName]RemoteStateOfferer.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.XMLStateComponent.XMLRemoteStateOffererName = ""
+
+
+# ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile: Path to statechart group definition file (*.scgxml) - relative to projects' source dir
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.XMLStateComponent.XMLStatechartGroupDefinitionFile = RobotAPI/statecharts/StatechartProfilesTestGroup/StatechartProfilesTestGroup.scgxml
+
+
+# ArmarX.XMLStateComponent.XMLStatechartProfile: Profile to use for state execution. Should be the same for all Statechart Groups in one scenario. This profile name is also added as a prefix to the Ice identifier of the RemoteStateOfferer of this statechart group.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+ArmarX.XMLStateComponent.XMLStatechartProfile = "Armar3a"
+
diff --git a/scenarios/tests/StatechartProfilesTestArmar3a/config/global.cfg b/scenarios/tests/StatechartProfilesTestArmar3a/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..af94bdc340da74be3cb048645adae3b0e042f4a6
--- /dev/null
+++ b/scenarios/tests/StatechartProfilesTestArmar3a/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario StatechartProfilesTestArmar3a
+# ==================================================================
+
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/WeissHapticSensorsUnitTest.scx b/scenarios/tests/WeissHapticSensorsUnitTest/WeissHapticSensorsUnitTest.scx
index 66efe7bdca59637648c5caabc469a766266baf86..164c997a45b61796952af6c54c8a2b581fae6d26 100644
--- a/scenarios/tests/WeissHapticSensorsUnitTest/WeissHapticSensorsUnitTest.scx
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/WeissHapticSensorsUnitTest.scx
@@ -1,9 +1,9 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="WeissHapticSensorsUnitTest" creation="2016-10-26.14:27:39" globalConfigName="" package="RobotAPI">
- <application name="RobotControl" instance="" package="RobotAPI" enabled="true"/>
- <application name="WeissHapticUnitApp" instance="" package="RobotAPI" enabled="true"/>
- <application name="XMLRemoteStateOfferer" instance="WeissHapticGroup" package="ArmarXCore" enabled="true"/>
- <application name="SystemObserver" instance="" package="ArmarXCore" enabled="true"/>
- <application name="ConditionHandler" instance="" package="ArmarXCore" enabled="true"/>
+<scenario name="WeissHapticSensorsUnitTest" creation="2016-10-26.14:27:39" globalConfigName="" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="RobotControl" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="WeissHapticUnitApp" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="XMLRemoteStateOfferer" instance="WeissHapticGroup" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SystemObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ConditionHandler" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>
diff --git a/scenarios/tests/WeissHapticSensorsUnitTest/config/global.cfg b/scenarios/tests/WeissHapticSensorsUnitTest/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..031512daa2c95131077eafa19e343a6d571b665a
--- /dev/null
+++ b/scenarios/tests/WeissHapticSensorsUnitTest/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario WeissHapticSensorsUnitTest
+# ==================================================================
+
diff --git a/scenarios/tests/statecharttestscenario/config/global.cfg b/scenarios/tests/statecharttestscenario/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..7e614d8edf8bb641423144e5a9389424387bae89
--- /dev/null
+++ b/scenarios/tests/statecharttestscenario/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario statecharttestscenario
+# ==================================================================
+
diff --git a/scenarios/tests/statecharttestscenario/statecharttestscenario.scx b/scenarios/tests/statecharttestscenario/statecharttestscenario.scx
index 40aeb876de507573cd16119b31e9db6e9e29766e..5bd90719bf5dff4720876cf3034638ee9f10c8c2 100644
--- a/scenarios/tests/statecharttestscenario/statecharttestscenario.scx
+++ b/scenarios/tests/statecharttestscenario/statecharttestscenario.scx
@@ -1,6 +1,6 @@
<?xml version="1.0" encoding="utf-8"?>
-<scenario name="statecharttestscenario" creation="2016-10-26.14:27:39" globalConfigName="" package="RobotAPI">
- <application name="ConditionHandler" instance="" package="ArmarXCore" enabled="true"/>
- <application name="SystemObserver" instance="" package="ArmarXCore" enabled="true"/>
+<scenario name="statecharttestscenario" creation="2016-10-26.14:27:39" globalConfigName="" package="RobotAPI" deploymentType="local" nodeName="NodeMain">
+ <application name="ConditionHandler" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="SystemObserver" instance="" package="ArmarXCore" nodeName="" enabled="true" iceAutoRestart="false"/>
</scenario>