From ee2cec5834b8748cc6c129e04a70aa7c1b01f461 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Sat, 10 Aug 2024 16:05:37 +0200
Subject: [PATCH] extending robot description and robot name helper for
HandUnit
---
.../libraries/RobotStatechartHelpers/RobotNameHelper.cpp | 6 ++++++
.../libraries/RobotStatechartHelpers/RobotNameHelper.h | 2 ++
.../libraries/armem_robot_state/aron/RobotDescription.xml | 3 +++
.../armem_robot_state/server/description/Segment.cpp | 4 ++++
4 files changed, 15 insertions(+)
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
index 4f2d0c35f..cf5eb9b33 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.cpp
@@ -250,6 +250,12 @@ namespace armarx
return select("HandControllerName");
}
+ std::string Arm::getHandUnitName() const
+ {
+ ARMARX_TRACE;
+ return select("HandUnitName");
+ }
+
std::string Arm::getHandRootNode() const
{
ARMARX_TRACE;
diff --git a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
index 76c9b283f..c1fa9b4d7 100644
--- a/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
+++ b/source/RobotAPI/libraries/RobotStatechartHelpers/RobotNameHelper.h
@@ -64,6 +64,8 @@ namespace armarx
std::string getHandRootNode() const;
+ std::string getHandUnitName() const;
+
std::string getHandModelPath() const;
std::string getAbsoluteHandModelPath() const;
diff --git a/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml b/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml
index 38ce6ca35..3fb008da6 100644
--- a/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml
+++ b/source/RobotAPI/libraries/armem_robot_state/aron/RobotDescription.xml
@@ -27,6 +27,9 @@
<ObjectChild key='end_effector'>
<string />
</ObjectChild>
+ <ObjectChild key='hand_unit'>
+ <string />
+ </ObjectChild>
<!-- Legacy old memory -->
<!-- <ObjectChild key='memory_hand_name'>
<string />
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 82dbd27c2..ef4c89379 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/description/Segment.cpp
@@ -189,6 +189,10 @@ namespace armarx::armem::server::robot_state::description
e.torso_kinematic_chain =
tryGet([&]() { return arm.getTorsoKinematicChain(); });
+ e.hand_unit =
+ tryGet([&]() { return arm.getHandUnitName(); });
+
+
info.parts.emplace(side + "Arm", e);
}
}
--
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