From 71a792073edbbc152a8c416ddf23ff93b9760d8f Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Tobias=20Gr=C3=B6ger?= <tobias-groeger@student.kit.edu>
Date: Mon, 20 Mar 2023 13:37:48 +0100
Subject: [PATCH] Clean up working directory
---
.../armem_robot_state/server/description/Segment.cpp | 10 ++++++++++
.../server/proprioception/Segment.cpp | 2 +-
2 files changed, 11 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
index af2381c78..bda30a9c5 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -116,6 +116,16 @@ namespace armarx::armem::server::robot_state::description
ARMARX_WARNING << "Robot unit '" << robotUnit->ice_getIdentity().name << "' does not have a kinematic unit."
<< "\n Cannot commit robot description.";
}
+
+ // FIXME: remove once kinematic unit is available
+ const robot::RobotDescription robotDescriptionArmar7
+ {
+ .name = "Armar7",
+ .xml = {"armar7_models", "robotmodel/armar7/Armar7.xml"}
+ };
+
+ commitRobotDescription(robotDescriptionArmar7);
+
}
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 99c330e76..809663005 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -53,7 +53,7 @@ namespace armarx::armem::server::robot_state::proprioception
{
this->robotUnit = robotUnitPrx;
- std::string providerSegmentName = "Robot";
+ std::string providerSegmentName = "Armar7";
KinematicUnitInterfacePrx kinematicUnit = robotUnit->getKinematicUnit();
if (kinematicUnit)
--
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