fixing build

source/armarx/control/skills/skills/MoveJoints.cpp

@@ -39,13 +39,13 @@ namespace armarx::control::skills::skills
         if (not virtualRobot)
         {
             ARMARX_ERROR << "Could not get robot '" << remote.robotName << "'";
-            return {::armarx::skills::TerminatedSkillStatus::Failed};
+            return MakeFailedResult();
         }
 
         // check jointsTargetValues are valid (joints exist, target values are within limits)
         if (not checkJointsTargetValuesValid(in.parameters.jointsTargetValues, virtualRobot))
         {
-            return {::armarx::skills::TerminatedSkillStatus::Failed};
+            return MakeFailedResult();
         }
 
         // request joints
@@ -54,11 +54,11 @@ namespace armarx::control::skills::skills
         {
             remote.kinematicUnit->requestJoints(jointNames);
         }
-        catch (armarx::KinematicUnitUnavailable e)
+        catch (const armarx::KinematicUnitUnavailable& e)
         {
             ARMARX_IMPORTANT << "Failed to request joints. Terminating. Joints unavailable:"
                              << e.nodeOwners;
-            return {::armarx::skills::TerminatedSkillStatus::Failed};
+            return MakeFailedResult();
         }
 
         // move joints
@@ -82,7 +82,7 @@ namespace armarx::control::skills::skills
                        in.parameters.accuracyOverride,
                        virtualRobot);
         }
-        return {::armarx::skills::TerminatedSkillStatus::Succeeded};
+        return MakeSucceededResult();
     }
 
     bool
@@ -132,12 +132,14 @@ namespace armarx::control::skills::skills
         ARMARX_INFO << "Waiting until target values are reached";
 
         const Clock clock;
-        const Duration sleepTime = Duration::MilliSeconds(20);
+        const Duration sleepTime = Duration::MilliSeconds(50);
 
         auto do_if_terminate_and_not_reached = [&]()
         {
             ARMARX_INFO << "Skill got aborted, stopping movement";
-            syncVirtualRobot(virtualRobot);
+            ARMARX_CHECK(
+                remote.virtualRobotReader.synchronizeRobot(*virtualRobot, armarx::DateTime::Now()))
+                << "Robot state synchronization failed";
 
             // stop movement
             switchControlMode(jointsTargetValues, eVelocityControl);
@@ -158,7 +160,9 @@ namespace armarx::control::skills::skills
         while (not reached)
         {
             throwIfSkillShouldTerminate(do_if_terminate_and_not_reached);
-            syncVirtualRobot(virtualRobot);
+            ARMARX_CHECK(
+                remote.virtualRobotReader.synchronizeRobot(*virtualRobot, armarx::DateTime::Now()))
+                << "Robot state synchronization failed";
 
             reached = true;
             for (const auto& [jointName, targetValue] : jointsTargetValues)
@@ -187,7 +191,9 @@ namespace armarx::control::skills::skills
                                      const NameValueMap& speedOverride,
                                      const VirtualRobot::RobotPtr& virtualRobot)
     {
-        syncVirtualRobot(virtualRobot);
+        ARMARX_CHECK(
+            remote.virtualRobotReader.synchronizeRobot(*virtualRobot, armarx::DateTime::Now()))
+            << "Robot state synchronization failed";
 
         //build trajectory
         armarx::trajectory::Trajectory trajectory;
@@ -235,12 +241,4 @@ namespace armarx::control::skills::skills
         ARMARX_INFO << "Target values reached";
     }
 
-    void
-    MoveJoints::syncVirtualRobot(const VirtualRobot::RobotPtr& virtualRobot)
-    {
-        ARMARX_CHECK(
-            remote.virtualRobotReader.synchronizeRobot(*virtualRobot, armarx::DateTime::Now()))
-            << "Robot state synchronization failed";
-    }
-
 } // namespace armarx::control::skills::skills

source/armarx/control/skills/skills/MoveJoints.h

@@ -32,11 +32,12 @@ namespace armarx::control::skills::skills
         static ::armarx::skills::SkillDescription
         GetSkillDescription()
         {
-            return {armarx::skills::SkillID("MoveJoints"),
-                    "Moves joints to specified target values using the KinematicUnit",
-                    nullptr,
-                    ::armarx::Duration::Minutes(1),
-                    ParamType::ToAronType()};
+            return ::armarx::skills::SkillDescription{
+                .skillId = {.skillName = "MoveJoints"},
+                .description = "Moves joints to specified target values using the KinematicUnit",
+                .rootProfileDefaults = nullptr,
+                .timeout = ::armarx::Duration::Minutes(1),
+                .parametersType = ParamType::ToAronType()};
         }
 
         MoveJoints(const Remote&);
@@ -62,8 +63,6 @@ namespace armarx::control::skills::skills
                                   const NameValueMap& speedOverride,
                                   const VirtualRobot::RobotPtr& virtualRobot);
 
-        void syncVirtualRobot(const VirtualRobot::RobotPtr& virtualRobot);
-
     private:
         Remote remote;
     };