updated fluxio edge fromIce:

source/RobotAPI/libraries/skills/core/FluxioEdge.cpp

@@ -6,6 +6,7 @@
 
 #include "FluxioNode.h"
 #include "FluxioParameter.h"
+#include "FluxioSubSkillNode.h"
 
 namespace armarx
 {
@@ -36,20 +37,70 @@ namespace armarx
                             std::map<std::string, FluxioNode*>& nodesMap,
                             std::map<std::string, FluxioParameter>& parametersMap)
         {
-
             skills::FluxioNode* fromNodePtr =
                 FluxioNode::FromFluxioIdentificatorIce(i.fromNodeId, nodesMap);
-            skills::FluxioParameter* fromParameterPtr =
-                FluxioParameter::FromFluxioIdentificatorIce(i.fromParameterId, parametersMap);
             skills::FluxioNode* toNodePtr =
                 FluxioNode::FromFluxioIdentificatorIce(i.toNodeId, nodesMap);
-            skills::FluxioParameter* toParameterPtr =
-                FluxioParameter::FromFluxioIdentificatorIce(i.toParameterId, parametersMap);
 
-            if (fromNodePtr == nullptr || fromParameterPtr == nullptr || toNodePtr == nullptr ||
-                toParameterPtr == nullptr)
+            if (fromNodePtr == nullptr || toNodePtr == nullptr)
+            {
+                ARMARX_WARNING << "Failed to convert node(s)";
+                return std::nullopt;
+            }
+
+            skills::FluxioParameter* fromParameterPtr = nullptr;
+            skills::FluxioParameter* toParameterPtr = nullptr;
+
+            // Check if fromNode is a SubSkillNode
+            if (fromNodePtr->nodeType == "SUBSKILL")
+            {
+                const auto* subSkillNodePtr = dynamic_cast<FluxioSubSkillNode*>(fromNodePtr);
+
+                try
+                {
+                    auto& subSkillParams = subSkillNodePtr->skillPtr->parameters;
+                    fromParameterPtr = FluxioParameter::FromFluxioIdentificatorIce(
+                        i.fromParameterId, subSkillParams);
+                }
+                catch (...)
+                {
+                    ARMARX_WARNING << "Failed to retrieve parameters of skill in subskill node";
+                    return std::nullopt;
+                }
+            }
+            else
+            {
+                fromParameterPtr =
+                    FluxioParameter::FromFluxioIdentificatorIce(i.fromParameterId, parametersMap);
+            }
+
+
+            // Check if toNode is a SubSkillNode
+            if (toNodePtr->nodeType == "SUBSKILL")
+            {
+                const auto* subSkillNodePtr = dynamic_cast<FluxioSubSkillNode*>(toNodePtr);
+
+                try
+                {
+                    auto& subSkillParams = subSkillNodePtr->skillPtr->parameters;
+                    toParameterPtr = FluxioParameter::FromFluxioIdentificatorIce(i.toParameterId,
+                                                                                 subSkillParams);
+                }
+                catch (...)
+                {
+                    ARMARX_WARNING << "Failed to retrieve parameters of skill in subskill node";
+                    return std::nullopt;
+                }
+            }
+            else
+            {
+                toParameterPtr =
+                    FluxioParameter::FromFluxioIdentificatorIce(i.toParameterId, parametersMap);
+            }
+
+            if (fromParameterPtr == nullptr || toParameterPtr == nullptr)
             {
-                ARMARX_WARNING << "Could not create FluxioEdge";
+                ARMARX_WARNING << "Failed to convert parameter(s)";
                 return std::nullopt;
             }