diff --git a/scenarios/PlatformNavigation/PlatformNavigation.scx b/scenarios/PlatformNavigation/PlatformNavigation.scx
new file mode 100644
index 0000000000000000000000000000000000000000..deaa96772e3a97de55d19bed1fa201706051d6cb
--- /dev/null
+++ b/scenarios/PlatformNavigation/PlatformNavigation.scx
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="PlatformNavigation" creation="2021-07-09.11:39:42" globalConfigName="./config/global.cfg" package="Navigation" deploymentType="local" nodeName="NodeMain">
+ <application name="Navigator" instance="" package="Navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="ObjectMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RemoteGuiProviderApp" instance="" package="ArmarXGui" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="RobotStateComponent" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+ <application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+
diff --git a/scenarios/PlatformNavigation/config/MemoryNameSystem.cfg b/scenarios/PlatformNavigation/config/MemoryNameSystem.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..7dd22218243ca4f9e67e843da8b42916f3b8568a
--- /dev/null
+++ b/scenarios/PlatformNavigation/config/MemoryNameSystem.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# MemoryNameSystem properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.MemoryNameSystem.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.MemoryNameSystem.EnableProfiling = false
+
+
+# ArmarX.MemoryNameSystem.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.MemoryNameSystem.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MemoryNameSystem.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MemoryNameSystem.ObjectName = ""
+
+
+# ArmarX.MemoryNameSystem.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.MemoryNameSystem.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/PlatformNavigation/config/Navigator.cfg b/scenarios/PlatformNavigation/config/Navigator.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..71b5341a1408866e8efb0066e55071b4891a1cbf
--- /dev/null
+++ b/scenarios/PlatformNavigation/config/Navigator.cfg
@@ -0,0 +1,212 @@
+# ==================================================================
+# Navigator properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.Navigator.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.Navigator.EnableProfiling = false
+
+
+# ArmarX.Navigator.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Navigator.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.Navigator.ObjectMemoryName: Name of the object memory.
+# Attributes:
+# - Default: ObjectMemory
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.ObjectMemoryName = ObjectMemory
+
+
+# ArmarX.Navigator.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.ObjectName = ""
+
+
+# ArmarX.Navigator.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.Navigator.RemoteStateComponentName: Name of the robot state component
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Navigator.RemoteStateComponentName = RobotStateComponent
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/PlatformNavigation/config/ObjectMemory.cfg b/scenarios/PlatformNavigation/config/ObjectMemory.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..88bef9985d7a10df2ca10b4c05c72c00100ba7cf
--- /dev/null
+++ b/scenarios/PlatformNavigation/config/ObjectMemory.cfg
@@ -0,0 +1,630 @@
+# ==================================================================
+# ObjectMemory properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.ObjectMemory.ArVizTopicName: Name of the ArViz topic
+# Attributes:
+# - Default: ArVizTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ObjectMemory.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.EnableProfiling = false
+
+
+# ArmarX.ObjectMemory.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.ObjectMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ObjectMemory.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ObjectName = ""
+
+
+# ArmarX.ObjectMemory.RemoteGuiName: Name of the remote gui provider
+# Attributes:
+# - Default: RemoteGuiProvider
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.ObjectMemory.RemoteStateComponentName: Name of the robot state component
+# Attributes:
+# - Default: RobotStateComponent
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.RemoteStateComponentName = RobotStateComponent
+
+
+# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName: Name of the kinematic unit observer.
+# Attributes:
+# - Default: KinematicUnitObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.cmp.KinematicUnitObserverName = KinematicUnitObserver
+
+
+# ArmarX.ObjectMemory.ltm.00_enabled:
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.ltm.00_enabled = true
+
+
+# ArmarX.ObjectMemory.ltm.10_host:
+# Attributes:
+# - Default: localhost
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.10_host = localhost
+
+
+# ArmarX.ObjectMemory.ltm.11_port:
+# Attributes:
+# - Default: 25270
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.11_port = 25270
+
+
+# ArmarX.ObjectMemory.ltm.20_user:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.20_user = ""
+
+
+# ArmarX.ObjectMemory.ltm.21_password:
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.21_password = ""
+
+
+# ArmarX.ObjectMemory.ltm.22_database:
+# Attributes:
+# - Default: Test
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.ltm.22_database = Test
+
+
+# ArmarX.ObjectMemory.mem.MemoryName: Name of this memory server.
+# Attributes:
+# - Default: Object
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.MemoryName = Object
+
+
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName: Name of the object instance core segment.
+# Attributes:
+# - Default: Attachments
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.CoreSegmentName = Attachments
+
+
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.attachments.MaxHistorySize = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.CoreSegmentName: Name of the object clazz core segment.
+# Attributes:
+# - Default: Class
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.CoreSegmentName = Class
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.EntityName: Object class entity of the floor.
+# Attributes:
+# - Default: Building/floor-20x20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.EntityName = Building/floor-20x20
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.Height: Height (z) of the floor plane.
+# Set slightly below 0 to avoid z-fighting when drawing planes on the ground.
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.Height = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.LayerName: Layer to draw the floor on.
+# Attributes:
+# - Default: Floor
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.Floor.LayerName = Floor
+
+
+# ArmarX.ObjectMemory.mem.cls.Floor.Show: Whether to show the floor.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.cls.Floor.Show = true
+
+
+# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage: If true, load the objects from the objects package on startup.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.cls.LoadFromObjectsPackage = true
+
+
+# ArmarX.ObjectMemory.mem.cls.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: -1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.MaxHistorySize = -1
+
+
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage: Name of the objects package to load from.
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.cls.ObjectsPackage = PriorKnowledgeData
+
+
+# ArmarX.ObjectMemory.mem.inst.CoreSegmentName: Name of the object instance core segment.
+# Attributes:
+# - Default: Instance
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.CoreSegmentName = Instance
+
+
+# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached: If true, no new snapshots are stored while an object is attached to a robot node.
+# If false, new snapshots are stored, but the attachment is kept in the new snapshots.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.DiscardSnapshotsWhileAttached = true
+
+
+# ArmarX.ObjectMemory.mem.inst.MaxHistorySize: Maximal size of object poses history (-1 for infinite).
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.MaxHistorySize = 25
+
+
+# ArmarX.ObjectMemory.mem.inst.calibration.offset: Offset for the node to be calibrated.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.offset = 0
+
+
+# ArmarX.ObjectMemory.mem.inst.calibration.robotNode: Robot node which can be calibrated.
+# Attributes:
+# - Default: Neck_2_Pitch
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.calibration.robotNode = Neck_2_Pitch
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds: Duration after latest localization before decay starts.
+# Attributes:
+# - Default: 5
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.delaySeconds = 5
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds: How long to reach minimal confidence.
+# Attributes:
+# - Default: 20
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.durationSeconds = 20
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.enabled: If true, object poses decay over time when not localized anymore.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.decay.enabled = false
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence: Confidence when decay starts.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.maxConfidence = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.minConfidence: Confidence after decay duration.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.minConfidence = 0
+
+
+# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence: Remove objects whose confidence is lower than this value.
+# Attributes:
+# - Default: 0.100000001
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.decay.removeObjectsBelowConfidence = 0.100000001
+
+
+# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity: If true, check whether the head is moving and discard updates in the meantime.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.head.checkHeadVelocity = true
+
+
+# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS: For how long new updates are ignored after moving the head.
+# Attributes:
+# - Default: 100
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.head.discardIntervalAfterMoveMS = 100
+
+
+# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity: If a head joint's velocity is higher, the head is considered moving.
+# Attributes:
+# - Default: 0.0500000007
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.head.maxJointVelocity = 0.0500000007
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package: ArmarX package containing the scene snapshots.
+# Scene snapshots are expected to be located in Package/data/Package/Scenes/*.json.
+# Attributes:
+# - Default: PriorKnowledgeData
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.10_Package = PriorKnowledgeData
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory: Directory in Package/data/Package/ containing the scene snapshots.
+# Attributes:
+# - Default: scenes
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.11_Directory = scenes
+
+
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad: Scene snapshot to load on startup (e.g. 'Scene_2021-06-24_20-20-03').
+# You can also specify paths relative to 'Package/scenes/'.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = ""
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.alpha: Alpha of objects (1 = solid, 0 = transparent).
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.alpha = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence: If true, use the pose confidence as alpha (if < 1.0).
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.alphaByConfidence = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.enabled: Enable or disable visualization of objects.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.enabled = true
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz: Frequency of visualization.
+# Attributes:
+# - Default: 25
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.frequenzyHz = 25
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame: If true, show global poses. If false, show poses in robot frame.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.inGlobalFrame = true
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.objectFrames: Enable showing object frames.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.objectFrames = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale: Scaling of object frames.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mem.inst.visu.objectFramesScale = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.oobbs: Enable showing oriented bounding boxes.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.oobbs = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels: Prefer articulated object models if available.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels = true
+
+
+# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled: Whether to use (and depend on) the Memory Name System (MNS).
+# Set to false to use this memory as a stand-alone.
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ObjectMemory.mns.MemoryNameSystemName: Name of the Memory Name System (MNS) component.
+# Attributes:
+# - Default: MemoryNameSystem
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver: Name of the `DebugObserver` topic to publish data to.
+# Attributes:
+# - Default: DebugObserver
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver = DebugObserver
+
+
+# ArmarX.ObjectMemory.tpc.pub.MemoryListener: Name of the `MemoryListener` topic to publish data to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.tpc.pub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.ObjectMemory.tpc.sub.MemoryListener: Name of the `MemoryListener` topic to subscribe to.
+# Attributes:
+# - Default: MemoryUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.tpc.sub.MemoryListener = MemoryUpdates
+
+
+# ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic: Name of the `ObjectPoseTopic` topic to subscribe to.
+# Attributes:
+# - Default: ObjectPoseTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic = ObjectPoseTopic
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/PlatformNavigation/config/RemoteGuiProviderApp.cfg b/scenarios/PlatformNavigation/config/RemoteGuiProviderApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..4fd690cefd94559b207493cf40e346a3e47f3b12
--- /dev/null
+++ b/scenarios/PlatformNavigation/config/RemoteGuiProviderApp.cfg
@@ -0,0 +1,196 @@
+# ==================================================================
+# RemoteGuiProviderApp properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteGuiProvider.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RemoteGuiProvider.EnableProfiling = false
+
+
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RemoteGuiProvider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RemoteGuiProvider.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.ObjectName = ""
+
+
+# ArmarX.RemoteGuiProvider.TopicName: Name of the topic on which updates to the remote state are reported.
+# Attributes:
+# - Default: RemoteGuiTopic
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteGuiProvider.TopicName = RemoteGuiTopic
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/PlatformNavigation/config/RobotStateComponent.cfg b/scenarios/PlatformNavigation/config/RobotStateComponent.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..9c5690ce9fcfd8be7648a3cd9aacd1bfdee1ad57
--- /dev/null
+++ b/scenarios/PlatformNavigation/config/RobotStateComponent.cfg
@@ -0,0 +1,316 @@
+# ==================================================================
+# RobotStateComponent properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files. If relative path AND env. variable ARMARX_USER_CONFIG_DIR is set, the cache path will be made relative to ARMARX_USER_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${HOME}/.armarx)
+# Attributes:
+# - Default: mongo/.cache
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.CachePath = mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.DisableLogging = false
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.EnableProfiling = false
+
+
+# ArmarX.LoadLibraries: Libraries to load at start up of the application. Must be enabled by the Application with enableLibLoading(). Format: PackageName:LibraryName;... or /absolute/path/to/library;...
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoadLibraries = ""
+
+
+# ArmarX.LoggingGroup: The logging group is transmitted with every ArmarX log message over Ice in order to group the message in the GUI.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.LoggingGroup = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: true
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RedirectStdout = true
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.RobotStateComponent.AgentName: Name of the agent for which the sensor values are provided
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.RobotStateComponent.AgentName = Armar6
+
+
+# ArmarX.RobotStateComponent.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateComponent.EnableProfiling = false
+
+
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName: Topic where the global robot pose can be reported.
+# Attributes:
+# - Default: GlobalRobotPoseLocalization
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.GlobalRobotPoseLocalizationTopicName = GlobalRobotPoseLocalization
+
+
+# ArmarX.RobotStateComponent.HistoryLength: Number of entries in the robot state history
+# Attributes:
+# - Default: 10000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.HistoryLength = 10000
+
+
+# ArmarX.RobotStateComponent.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RobotStateComponent.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotStateComponent.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.ObjectName = ""
+
+
+# ArmarX.RobotStateComponent.PlatformTopicName: Topic where platform state is published.
+# Attributes:
+# - Default: PlatformState
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.PlatformTopicName = PlatformState
+
+
+# ArmarX.RobotStateComponent.RobotFileName: Filename of VirtualRobot robot model (e.g. robot_model.xml)
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.RobotStateComponent.RobotFileName = Armar6RT/robotmodel/Armar6-SH/Armar6-SH.xml
+
+
+# ArmarX.RobotStateComponent.RobotModelScaling: Scaling of the robot model
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.RobotModelScaling = 1
+
+
+# ArmarX.RobotStateComponent.RobotNodeSetName: Set of nodes that is controlled by the KinematicUnit
+# Attributes:
+# - Case sensitivity: yes
+# - Required: yes
+ArmarX.RobotStateComponent.RobotNodeSetName = Robot
+
+
+# ArmarX.RobotStateComponent.RobotStateReportingTopic: Name of the topic on which updates of the robot state are reported.
+# Attributes:
+# - Default: RobotStateUpdates
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.RobotStateReportingTopic = RobotStateUpdates
+
+
+# ArmarX.RobotStateComponent.TopicPrefix: Prefix for the sensor value topic name.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateComponent.TopicPrefix = ""
+
+
+# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateObserver.CreateUpdateFrequenciesChannel = false
+
+
+# ArmarX.RobotStateObserver.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.RobotStateObserver.EnableProfiling = false
+
+
+# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.RobotStateObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateObserver.MaxHistorySize = 5000
+
+
+# ArmarX.RobotStateObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.RobotStateObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.RobotStateObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateObserver.ObjectName = ""
+
+
+# ArmarX.RobotStateObserver.TCPsToReport: comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.RobotStateObserver.TCPsToReport = ""
+
+
+# ArmarX.SecondsStartupDelay: The startup will be delayed by this number of seconds (useful for debugging)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.SecondsStartupDelay = 0
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.StartDebuggerOnCrash = false
+
+
+# ArmarX.ThreadPoolSize: Size of the ArmarX ThreadPool that is always running.
+# Attributes:
+# - Default: 1
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.ThreadPoolSize = 1
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: yes
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: false
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.UseTimeServer = false
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: yes
+# - Required: no
+# - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
+# ArmarX.Verbosity = Info
+
+
diff --git a/scenarios/PlatformNavigation/config/global.cfg b/scenarios/PlatformNavigation/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..1866859c633c653cac00a848d5afd5dca1561063
--- /dev/null
+++ b/scenarios/PlatformNavigation/config/global.cfg
@@ -0,0 +1,4 @@
+# ==================================================================
+# Global Config from Scenario PlatformNavigation
+# ==================================================================
+
diff --git a/source/Navigation/components/Navigator/Navigator.cpp b/source/Navigation/components/Navigator/Navigator.cpp
index cbcf31cbf144a3453d3d81e72d4d980adaa0f4ea..3f16c96100f0356715b67d9e3203bc662c556caf 100644
--- a/source/Navigation/components/Navigator/Navigator.cpp
+++ b/source/Navigation/components/Navigator/Navigator.cpp
@@ -39,7 +39,6 @@
#include "Navigation/libraries/util/util.h"
#include <Navigation/libraries/factories/NavigationStackFactory.h>
-
armarx::nav::components::Navigator::Navigator() : executor{platformUnit}
{
}
@@ -48,60 +47,48 @@ armarx::nav::components::Navigator::~Navigator()
{
}
-
-void
-armarx::nav::components::Navigator::onInitComponent()
+void armarx::nav::components::Navigator::onInitComponent()
{
}
-
-void
-armarx::nav::components::Navigator::onConnectComponent()
+void armarx::nav::components::Navigator::onConnectComponent()
{
}
-
-void
-armarx::nav::components::Navigator::onDisconnectComponent()
+void armarx::nav::components::Navigator::onDisconnectComponent()
{
}
-
-void
-armarx::nav::components::Navigator::onExitComponent()
+void armarx::nav::components::Navigator::onExitComponent()
{
}
-
-void
-armarx::nav::components::Navigator::updateContext()
+void armarx::nav::components::Navigator::updateContext()
{
scene.staticScene = staticScene();
scene.robot = getRobot();
}
-
-std::string
-armarx::nav::components::Navigator::getDefaultName() const
+std::string armarx::nav::components::Navigator::getDefaultName() const
{
return "Navigator";
}
-
-std::vector<armarx::nav::core::Pose>
-convert(const std::vector<Eigen::Matrix4f>& wps)
+std::vector<armarx::nav::core::Pose> convert(const std::vector<Eigen::Matrix4f>& wps)
{
using namespace armarx::nav;
std::vector<core::Pose> p;
p.reserve(wps.size());
- std::transform(wps.begin(), wps.end(), std::back_inserter(p), [](const auto & p)
+ std::transform(wps.begin(),
+ wps.end(),
+ std::back_inserter(p),
+ [](const auto & p)
{
return Eigen::Affine3f(p);
});
return p;
}
-
std::string
armarx::nav::components::Navigator::createConfig(const aron::data::AronDictPtr& stackConfig,
const Ice::Current&)
@@ -115,50 +102,39 @@ armarx::nav::components::Navigator::createConfig(const aron::data::AronDictPtr&
return uuid;
}
-
-void
-armarx::nav::components::Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
+void armarx::nav::components::Navigator::moveTo(const std::vector<Eigen::Matrix4f>& waypoints,
const std::string& navigationMode,
const std::string& configId,
const Ice::Current&)
{
// TODO: Error handling.
- navigators.at(configId).moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));
+ navigators.at(configId).moveTo(convert(waypoints),
+ core::NavigationFramesMap.from_name(navigationMode));
}
-
-void
-armarx::nav::components::Navigator::moveTowards(const Eigen::Vector3f& direction,
+void armarx::nav::components::Navigator::moveTowards(const Eigen::Vector3f& direction,
const std::string& navigationMode,
const std::string& configId,
const Ice::Current&)
{
// TODO: Error handling.
- navigators.at(configId).moveTowards(direction, core::NavigationFramesMap.from_name(navigationMode));
+ navigators.at(configId).moveTowards(direction,
+ core::NavigationFramesMap.from_name(navigationMode));
}
-
-void
-armarx::nav::components::Navigator::pauseMovement(const Ice::Current&)
+void armarx::nav::components::Navigator::pauseMovement(const Ice::Current&)
{
-
}
-
-void
-armarx::nav::components::Navigator::resumeMovement(const Ice::Current&)
+void armarx::nav::components::Navigator::resumeMovement(const Ice::Current&)
{
-
}
-
-armarx::PropertyDefinitionsPtr
-armarx::nav::components::Navigator::createPropertyDefinitions()
+armarx::PropertyDefinitionsPtr armarx::nav::components::Navigator::createPropertyDefinitions()
{
- armarx::PropertyDefinitionsPtr def =
- new ComponentPropertyDefinitions(getConfigIdentifier());
+ armarx::PropertyDefinitionsPtr def = new ComponentPropertyDefinitions(getConfigIdentifier());
// Publish to a topic (passing the TopicListenerPrx).
// def->topic(myTopicListener);
@@ -167,7 +143,7 @@ armarx::nav::components::Navigator::createPropertyDefinitions()
// def->topic<PlatformUnitListener>("MyTopic");
// Use (and depend on) another component (passing the ComponentInterfacePrx).
- def->component(platformUnit);
+ // def->component(platformUnit);
// Add a required property.
// def->required(properties.boxLayerName, "p.box.LayerName", "Name of the box layer in ArViz.");
@@ -178,9 +154,7 @@ armarx::nav::components::Navigator::createPropertyDefinitions()
return def;
}
-
-armarx::nav::core::StaticScene
-armarx::nav::components::Navigator::staticScene()
+armarx::nav::core::StaticScene armarx::nav::components::Navigator::staticScene()
{
core::StaticScene scene;
@@ -191,9 +165,7 @@ armarx::nav::components::Navigator::staticScene()
return scene;
}
-
-VirtualRobot::RobotPtr
-armarx::nav::components::Navigator::getRobot()
+VirtualRobot::RobotPtr armarx::nav::components::Navigator::getRobot()
{
auto robot = RemoteRobot::createLocalCloneFromFile(
getRobotStateComponent(), VirtualRobot::RobotIO::RobotDescription::eFull);
@@ -207,3 +179,60 @@ armarx::nav::components::Navigator::getRobot()
return robot;
}
+
+
+void armarx::nav::components::Navigator::createRemoteGuiTab()
+{
+ using namespace armarx::RemoteGui::Client;
+
+ // Setup the widgets.
+
+ tab.boxLayerName.setValue(0);
+ tab.numBoxes.setValue(1);
+ tab.numBoxes.setRange(0, 100);
+
+ tab.drawBoxes.setLabel("Draw Boxes");
+
+ // Setup the layout.
+
+ GridLayout grid;
+ int row = 0;
+ {
+ grid.add(Label("Box Layer"), {row, 0}).add(tab.boxLayerName, {row, 1});
+ ++row;
+
+ grid.add(Label("Num Boxes"), {row, 0}).add(tab.numBoxes, {row, 1});
+ ++row;
+
+ grid.add(tab.drawBoxes, {row, 0}, {2, 1});
+ ++row;
+ }
+
+ VBoxLayout root = {grid, VSpacer()};
+ RemoteGui_createTab(getName(), root, &tab);
+}
+
+
+void armarx::nav::components::Navigator::RemoteGui_update()
+{
+ // if (tab.boxLayerName.hasValueChanged() || tab.numBoxes.hasValueChanged())
+ // {
+ // std::scoped_lock lock(propertiesMutex);
+ // properties.boxLayerName = tab.boxLayerName.getValue();
+ // properties.numBoxes = tab.numBoxes.getValue();
+
+ // {
+ // setDebugObserverDatafield("numBoxes", properties.numBoxes);
+ // setDebugObserverDatafield("boxLayerName", properties.boxLayerName);
+ // sendDebugObserverBatch();
+ // }
+ // }
+ if (tab.drawBoxes.wasClicked())
+ {
+ // Lock shared variables in methods running in seperate threads
+ // and pass them to functions. This way, the called functions do
+ // not need to think about locking.
+ std::scoped_lock lock(propertiesMutex);
+ // drawBoxes(properties, arviz);
+ }
+}
diff --git a/source/Navigation/components/Navigator/Navigator.h b/source/Navigation/components/Navigator/Navigator.h
index a22d4de00766b499cebb59ff16db3fa695fb6c2b..16ad98af456be7461d78847456433a9836e0c072 100644
--- a/source/Navigation/components/Navigator/Navigator.h
+++ b/source/Navigation/components/Navigator/Navigator.h
@@ -20,10 +20,8 @@
* GNU General Public License
*/
-
#pragma once
-
// STD/STL
#include <optional>
#include <string>
@@ -34,6 +32,9 @@
// ArmarX
#include <ArmarXCore/core/Component.h>
+
+#include <ArmarXGui/libraries/ArmarXGuiComponentPlugins/LightweightRemoteGuiComponentPlugin.h>
+
#include <RobotAPI/interface/units/PlatformUnitInterface.h>
#include <RobotAPI/libraries/ArmarXObjects/plugins/ObjectPoseClientPlugin.h>
#include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotStateComponentPlugin.h>
@@ -41,10 +42,9 @@
// Navigation
#include "Navigation/libraries/core/StaticScene.h"
#include "Navigation/libraries/core/types.h"
+#include <Navigation/components/Navigator/NavigatorInterface.h>
#include <Navigation/libraries/server/Navigator.h>
#include <Navigation/libraries/server/execution/PlatformUnitExecutor.h>
-#include <Navigation/components/Navigator/NavigatorInterface.h>
-
namespace armarx::nav::components
{
@@ -64,11 +64,11 @@ namespace armarx::nav::components
virtual public armarx::Component,
virtual public NavigatorInterface,
virtual public armarx::ObjectPoseClientPluginUser,
- virtual public armarx::RobotStateComponentPluginUser
+ virtual public armarx::RobotStateComponentPluginUser,
+ virtual public armarx::LightweightRemoteGuiComponentPluginUser
{
public:
-
Navigator();
~Navigator() override;
@@ -115,16 +115,32 @@ namespace armarx::nav::components
VirtualRobot::RobotPtr getRobot();
+ void createRemoteGuiTab();
+ void RemoteGui_update() override;
+
+
private:
// TODO update context periodically
-
PlatformUnitInterfacePrx platformUnit;
core::Scene scene;
server::PlatformUnitExecutor executor;
std::map<std::string, server::Navigator> navigators;
+
+
+ std::mutex propertiesMutex;
+
+ struct RemoteGuiTab : armarx::RemoteGui::Client::Tab
+ {
+ armarx::RemoteGui::Client::LineEdit boxLayerName;
+
+ armarx::RemoteGui::Client::IntSpinBox numBoxes;
+
+ armarx::RemoteGui::Client::Button drawBoxes;
+ };
+ RemoteGuiTab tab;
};
} // namespace armarx::nav::components