From 72f06da86754744a75c0b328ca3c11049a9a28b2 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Fri, 10 Feb 2023 14:01:17 +0100
Subject: [PATCH] fix: Armar6Converter: checking type in forceTorque extra
(issue on ARMAR-DE)
---
.../converters/Armar6Converter.cpp | 18 +++++++++++++++++-
1 file changed, 17 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
index 02325df8c..4dda540b2 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/converters/Armar6Converter.cpp
@@ -164,7 +164,23 @@ namespace armarx::armem::server::robot_state::proprioception
std::string key = split.size() == 4
? (fieldName + "." + split.at(3))
: fieldName;
- dto.extra[key] = getValueAs<float>(value);
+
+ switch (value.entry.type)
+ {
+ case RobotUnitDataStreaming::NodeTypeFloat:
+ dto.extra[key] = getValueAs<float>(value);
+ break;
+ case RobotUnitDataStreaming::NodeTypeInt:
+ dto.extra[key] = getValueAs<int>(value);
+ break;
+ case RobotUnitDataStreaming::NodeTypeLong:
+ dto.extra[key] = getValueAs<long>(value);
+ break;
+ default:
+ ARMARX_DEBUG << "Cannot handle extra field '" << key << "' of type "
+ << RobotUnitDataStreaming::DataEntryNames.to_name(value.entry.type);
+ break;
+ }
}
}
--
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