From dac5f20665577c74fba10fdb6d2e65d26c100454 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 2 Jun 2021 17:14:45 +0200
Subject: [PATCH] robot state memory: using new waiting modality
---
.../armem/server/RobotStateMemory/RobotStateMemory.cpp | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
index 2a3d01143..da477a238 100644
--- a/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
+++ b/source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp
@@ -130,6 +130,10 @@ namespace armarx::armem::server::robot_state
void RobotStateMemory::onConnectComponent()
{
+ waitUntilRobotUnitIsRunning();
+
+ ARMARX_CHECK_NOT_NULL(getRobotUnit()->getKinematicUnit());
+
descriptionSegment.connect(getArvizClient(), getRobotUnit());
proprioceptionSegment.connect(getArvizClient(), getRobotUnit());
--
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