fixing statechart

source/armarx/navigation/statecharts/NavigationGroup/CMakeLists.txt

 armarx_add_statechart(NavigationGroup
     SOURCES
         NavigationGroupRemoteStateOfferer.cpp
-        NavigateToLocation.cpp
     HEADERS
         NavigationGroupRemoteStateOfferer.h
     DEPENDENCIES

source/armarx/navigation/statecharts/NavigationGroup/NavigateBetweenLocations.xml

@@ -66,3 +66,4 @@
 		</Transition>
 	</Transitions>
 </State>
+

source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.cpp

@@ -85,7 +85,7 @@ namespace armarx::navigation::statecharts::navigation_group
 
         // assemble the path, which might consist of waypoints and a goal (the goal is just the last `waypoint`)
         client::PathBuilder builder;
-        builder.add(in.getlocation(), client::GlobalPlanningStrategy::Free);
+        builder.add(in.getlocation(), client::GlobalPlanningStrategy::Point2Point);
 
         // execute
         ARMARX_INFO << "Sending navigation request";

source/armarx/navigation/statecharts/NavigationGroup/NavigateToLocation.xml

@@ -2,7 +2,7 @@
 <State version="1.2" name="NavigateToLocation" uuid="11145B85-CD8C-4B7C-AF2F-65FCB07F6568" width="800" height="600" type="Normal State">
 	<InputParameters>
 		<Parameter name="location" type="::armarx::StringVariantData" docType="string" optional="yes">
-			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"R003/home"}}' docValue="R003/home"/>
+			<DefaultValue value='{"type":"::armarx::SingleVariantBase","variant":{"typeName":"::armarx::StringVariantData","value":"R003/sh_center"}}' docValue="R003/sh_center"/>
 		</Parameter>
 	</InputParameters>
 	<OutputParameters/>
@@ -16,3 +16,4 @@
 	</Events>
 	<Transitions/>
 </State>
+

source/armarx/navigation/statecharts/NavigationGroup/NavigationGroup.scgxml

@@ -4,7 +4,7 @@
 		<Proxy value="RobotAPIInterfaces.MemoryNameSystem"/>
 		<Proxy value="armarx_navigation::client.navigator"/>
 	</Proxies>
-	<Configurations/>
 	<State filename="NavigateBetweenLocations.xml" visibility="public"/>
 	<State filename="NavigateToLocation.xml" visibility="public"/>
 </StatechartGroup>
+