Change SlaveIdentifier to also read config from node Identifier

source/RobotAPI/libraries/ArmarXEtherCAT/SlaveIdentifier.cpp

@@ -27,9 +27,35 @@ using namespace armarx;
 
 SlaveIdentifier::SlaveIdentifier(const RapidXmlReaderNode& node)
 {
-    VendorID = node.first_node("VendorID").value_as_uint32();
-    ProductID = node.first_node("ProductID").value_as_uint32();
-    Serial = node.first_node("Serial").value_as_uint32();
+    ARMARX_TRACE;
+    ARMARX_DEBUG << "node valid " << node.is_valid()
+                 << "\npaths: " << node.getChildPaths();
+    ARMARX_CHECK_EXPRESSION(
+        (
+            node.has_node("VendorID") &&
+            node.has_node("ProductID") &&
+            node.has_node("Serial")
+        ) ||
+        node.has_node("Identifier")
+    );
+    if (node.has_node("Identifier"))
+    {
+        const auto inode = node.first_node("Identifier");
+        ARMARX_CHECK_EXPRESSION(
+            inode.has_node("VendorID") &&
+            inode.has_node("ProductID") &&
+            inode.has_node("Serial")
+        ) << "paths: " << inode.getChildPaths();
+        VendorID  = inode.first_node("VendorID").value_as_uint32();
+        ProductID = inode.first_node("ProductID").value_as_uint32();
+        Serial    = inode.first_node("Serial").value_as_uint32();
+    }
+    else
+    {
+        VendorID  = node.first_node("VendorID").value_as_uint32();
+        ProductID = node.first_node("ProductID").value_as_uint32();
+        Serial    = node.first_node("Serial").value_as_uint32();
+    }
 }
 
 SlaveIdentifier::SlaveIdentifier(uint32_t VendorID, uint32_t ProductID, uint32_t Serial, const std::string& humanName)