RobotStateMemory: Make RobotUnit optional and make reconnect robust

added module::armem label

I once made the RobotUnit an optional dependecy. Dont know about the reconnect though, but i guess Ice should take care of it. I think this can be closed

Dont know about the reconnect though

Then we should not close the issue before we know, right?

Ya we can test. Usually Ice should handle such reconnections (However I know this does not always works correctly and might need testing). Actually I was searching for another issues, but this one caught my eye :D

On ARMAR-7 (and I think other robots), the Unit is not optional. If the unit is gone, the RobotStateMemory goes into disconnected state, which causes all other components using the RSM to disconnect as well.

Edit: There is the setting waitForUnit , which probably controls this behavior. Maybe we want to disable it?

Yes, this is what i added for A3, since that robot does not have a unit.