Feature/armem virtual robot: Replacement for RobotStateComponent

merge https://gitlab.com/ArmarX/RobotAPI/-/merge_requests/144 first

as the other PRs are not merged yet, the change list is quite large. @fratty only consider the changes to

• armem_robot_state/client/common => VirtualRobotReader and RobotReader
• component: VirtualRobotReaderExampleClient

changed the description

added 65 commits

• 0887eb45 - new aron types
• f89dd263 - new classes for articulated objects (similar to normal objects)
• 5e80be6d - ice interfaces
• eff154b5 - articulated object state provider example
• 00998cc6 - object pose provider example: publishing articulated object
• 3a807409 - articulatedobjectmemoryinterface
• bd17d259 - moving files
• 0d7f5ee5 - client reader and writer for articulated object
• f145908e - moving files and functionality
• 65f506f5 - ignoring vs code folder
• 911922f3 - cleanup
• 2a4902c5 - articulated object writer
• d5b74ac6 - const correctness (@simox)
• f76f836f - articulated object example client
• 8fafa3f0 - Merge remote-tracking branch 'origin/master' into feature/armem-object-memory-articulated-objects
• b72ebc4e - Articulated objects are now stored in memory (writer is working)
• e725a614 - writer now also stores class
• e79f4a4b - memory links
• 9663e00a - resetting object pose provider
• 0e240812 - minor fixes
• c3935157 - removing articulated object ice interfaces
• 9ce76067 - removing articulated object memory interface
• 81125dc9 - cleanup
• 16361088 - cleanup
• c32a6703 - cleanup
• 996e3f7b - cleanup
• 1bde99bf - minor fix
• 1ded09b3 - moving files
• 1bc0e038 - Merge remote-tracking branch 'origin/master' into feature/armem-object-memory-articulated-objects
• 1f282252 - articulated objects: visu
• bf7ada8b - Merge remote-tracking branch 'origin/armem/dev' into...
• 7f78f7bc - Merge remote-tracking branch 'origin/armem/dev' into...
• f89f828b - Merge remote-tracking branch 'origin/master' into feature/armem-object-memory-articulated-objects
• bde3f70a - get_keys currently unsupported for unordered_map. will be fixed soon
• a4665d4a - robot state memory now in namespace armarx::armem::server::robot_state similar...
• 56320099 - new lib armem_robot and armem_robot_state => armem_robot is base for...
• 1d1e408e - removing orphaned files
• d566dfb7 - TransformReader and Writer now taking (memory) Client**ComponentPluginUser via c'tor
• f2ef0ddd - articulated object reader and writer: taking (memory) Client**ComponentPluginUser via c'tor
• e6cee069 - reducing verbosity
• f07a63df - armem robot mapping: taking (memory) Client**ComponentPluginUser via c'tor
• 18d8e56d - armem/client: Reader and writer methods useMemory() are now public
• 40c79e1a - articulated object client example: fixes
• d8250f7c - RobotStateMemory: using core visu
• 0bf60a5d - armem_objects: attachments segment (first draft)
• 463c9578 - Revert "armem_objects: attachments segment (first draft)"
• 332c99e2 - cmake: removing link to deleted files
• c56d8996 - removing include to deleted file
• 58ddcc33 - odometry streaming now up and running
• da9cbb15 - JointState aron
• a776b29e - odometry streaming
• ad6e248f - standard query functions for segments
• d6fb36d1 - visu: can now visualize robots
• f563ee2e - adding aron xml to cmake
• e65eb772 - cleanup
• af35d029 - robotstatememory: changed field name of streamed data: removing e.g...
• 86a8df33 - decreasing verbosity
• c9f3ff9c - new class TransformHelper to unify client and server queries
• 44d3db97 - localization segment: implemented lookup
• a04e7d16 - transform writer: some checks
• 7952ade4 - reduced verbosity
• 4c668234 - all segments with timestamp lookup
• 75834429 - fix: kinematicunit might not be available on startup and causes a nullptr exception.
• 40f14b83 - Merge remote-tracking branch 'origin/armem/dev' into...
• 31fda255 - Merge branch 'feature/armem-object-memory-articulated-objects' into...

Compare with previous version

added 9 commits

• ba3b81b9 - class to create and synchronize robot
• def470ef - decreased verbosity
• 5e65ddef - description segment: setting xml package properly
• a822ce0b - unified initial property values
• 4d2d67fc - minor
• f7ef1234 - virtualrobotreader: some fixes, proper package handling (package finder)
• 09f7cb17 - decreased verbosity
• 28f76d3c - VirtualRobotReaderExampleClient to test new "RobotStateComponent"
• 15b90869 - adding include

Compare with previous version

requested review from @fratty

changed the description

added 21 commits

• 15b90869...d919ba26 - 20 commits from branch armem/dev
• ee133f51 - Merge remote-tracking branch 'origin/armem/dev' into feature/armem-virtual-robot

Compare with previous version

added 4 commits

• b079e4ae - cleanup
• a5015bf1 - periodic task instead of runnnig task
• e404472d - query: beforeTime with default: nElements=1
• b686cd43 - fix

Compare with previous version

merged

mentioned in commit 8c2d7c47