Add NavigateToNamedLocation skill to skill provider

source/armarx/navigation/components/navigation_skill_provider/Component.cpp

@@ -25,21 +25,16 @@
 
 #include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
+#include <armarx/navigation/location/constants.h>
 #include <armarx/navigation/skills/GuideHumanToRoom.h>
 #include <armarx/navigation/skills/MoveRelativePlanar.h>
 #include <armarx/navigation/skills/MoveXMeters.h>
 #include <armarx/navigation/skills/NavigateTo.h>
 #include <armarx/navigation/skills/NavigateToLocation.h>
+#include <armarx/navigation/skills/NavigateToNamedLocation.h>
 #include <armarx/navigation/skills/RotateXDegrees.h>
 #include <armarx/navigation/skills/constants.h>
 
-// Include headers you only need in function definitions in the .cpp.
-
-// #include <Eigen/Core>
-
-// #include <SimoxUtility/color/Color.h>
-
-
 namespace armarx::navigation::components::navigation_skill_provider
 {
     Component::Component()
@@ -61,6 +56,17 @@ namespace armarx::navigation::components::navigation_skill_provider
 
         def->required(properties.robotName, "RobotName", "Default robot name.");
 
+        auto optionalSubSkillID =
+            [&def](armarx::skills::SkillID& skillID, const std::string& nameBase)
+        {
+            ARMARX_CHECK(skillID.providerId.has_value());
+            def->optional(skillID.providerId->providerName, nameBase + ".providerName");
+            def->optional(skillID.skillName, nameBase + ".skillName");
+        };
+
+        optionalSubSkillID(properties.navigateToNamedLocation.subSkillIDs.navigateToLocation,
+                           "p.navigateToNamedLocation.subSkillIDs.navigateToLocation");
+
         return def;
     }
 
@@ -97,6 +103,15 @@ namespace armarx::navigation::components::navigation_skill_provider
             addSkillFactory<skills::NavigateToLocation>(srv);
         }
 
+        {
+            skills::NavigateToNamedLocation::Services services{
+                .locationReader =
+                    memoryNameSystem().getReader(armarx::navigation::location::coreSegmentID),
+            };
+            addSkillFactory<skills::NavigateToNamedLocation>(properties.navigateToNamedLocation,
+                                                             services);
+        }
+
         {
             skills::MoveXMeters::Services srv{
                 .iceNavigator = iceNavigator,

source/armarx/navigation/components/navigation_skill_provider/Component.h

@@ -37,6 +37,7 @@
 #include <armarx/navigation/components/navigation_skill_provider/ComponentInterface.h>
 #include <armarx/navigation/memory/client/costmap/Reader.h>
 #include <armarx/navigation/memory/client/rooms/Reader.h>
+#include <armarx/navigation/skills/NavigateToNamedLocation.h>
 #include <armarx/navigation/skills/forward_declarations.h>
 
 namespace armarx::navigation::components::navigation_skill_provider
@@ -109,6 +110,8 @@ namespace armarx::navigation::components::navigation_skill_provider
         struct Properties
         {
             std::string robotName;
+
+            skills::NavigateToNamedLocation::Properties navigateToNamedLocation;
         };
 
         Properties properties;