disabled occupancy grid reader atm

source/armarx/navigation/components/Navigator/Navigator.cpp

@@ -44,6 +44,7 @@
 #include <VirtualRobot/MathTools.h>
 #include <VirtualRobot/Robot.h>
 
+#include "ArmarXCore/core/time/Clock.h"
 #include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/exceptions/LocalException.h>
 #include <ArmarXCore/core/logging/LogSender.h>
@@ -117,7 +118,7 @@ namespace armarx::navigation::components
         eventsWriter(memoryNameSystem()),
         resultsWriter(memoryNameSystem()),
         graphReader(memoryNameSystem()),
-        occupancyGridReader(memoryNameSystem()),
+        // occupancyGridReader(memoryNameSystem()),
         costmapWriter(memoryNameSystem()),
         virtualRobotReader(memoryNameSystem()),
         parameterizationService(&parameterizationReader, &parameterizationWriter)
@@ -156,7 +157,7 @@ namespace armarx::navigation::components
         // parameterizationReader.connect();
         parameterizationWriter.connect();
         graphReader.connect();
-        occupancyGridReader.connect();
+        // occupancyGridReader.connect();
         costmapWriter.connect();
         virtualRobotReader.connect();
 
@@ -200,7 +201,7 @@ namespace armarx::navigation::components
         parameterizationWriter.connect();
         graphReader.connect();
         virtualRobotReader.connect();
-        occupancyGridReader.connect();
+        // occupancyGridReader.connect();
         costmapWriter.connect();
 
         navRemoteGui->enable();
@@ -459,7 +460,7 @@ namespace armarx::navigation::components
         parameterizationWriter.registerPropertyDefinitions(def);
         graphReader.registerPropertyDefinitions(def);
         virtualRobotReader.registerPropertyDefinitions(def);
-        occupancyGridReader.registerPropertyDefinitions(def);
+        // occupancyGridReader.registerPropertyDefinitions(def);
         costmapWriter.registerPropertyDefinitions(def);
 
         return def;
@@ -543,7 +544,7 @@ namespace armarx::navigation::components
 
         visualize(costmap, arviz, "distance");
 
-
+        /*
         const armem::vision::occupancy_grid::client::Reader::Result result =
             occupancyGridReader.query(armem::vision::occupancy_grid::client::Reader::Query{
                 .providerName = "CartographerMappingAndLocalization",
@@ -597,7 +598,7 @@ namespace armarx::navigation::components
         else
         {
             ARMARX_INFO << "Occupancy grid not available";
-        }
+        }*/
 
         return scene;
     }

source/armarx/navigation/components/Navigator/Navigator.h

@@ -193,7 +193,7 @@ namespace armarx::navigation::components
         mem::client::events::Writer eventsWriter;
         mem::client::stack_result::Writer resultsWriter;
         mem::client::graph::Reader graphReader;
-        armem::vision::occupancy_grid::client::Reader occupancyGridReader;
+        // armem::vision::occupancy_grid::client::Reader occupancyGridReader;
         mem::client::costmap::Writer costmapWriter;
 
         // `robot_state` memory reader and writer