description segment: setting xml package properly

source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp

@@ -8,6 +8,8 @@
 #include "ArmarXCore/core/logging/Logging.h"
 #include <ArmarXCore/core/time/TimeUtil.h>
 
+#include "ArmarXCore/core/system/ArmarXDataPath.h"
+#include "ArmarXCore/core/system/cmake/CMakePackageFinder.h"
 #include "RobotAPI/libraries/armem_robot/types.h"
 #include "RobotAPI/libraries/aron/common/aron_conversions.h"
 
@@ -119,11 +121,17 @@ namespace armarx::armem::server::robot_state::description
         ARMARX_CHECK_NOT_NULL(kinematicUnit);
 
         const auto robotName = kinematicUnit->getRobotName();
+        const auto robotFilename = kinematicUnit->getRobotFilename();
+
+        const auto packages = armarx::CMakePackageFinder::FindAllArmarXSourcePackages();
+        const auto package = armarx::ArmarXDataPath::getProject(packages, robotFilename);
+
+        ARMARX_INFO << "Robot description '" << robotFilename << "' found in package " << package;
 
         const robot::RobotDescription robotDescription
         {
             .name = kinematicUnit->getRobotName(),
-            .xml  = {"Armar6RT", kinematicUnit->getRobotFilename()}}; // FIXME
+            .xml  = {package, kinematicUnit->getRobotFilename()}}; // FIXME
 
         storeRobotDescription(robotDescription);
     }