CMakeLists.txt

@@ -16,6 +16,7 @@ armarx_project(navigation NAMESPACE armarx)
 armarx_find_package(PUBLIC RobotAPI REQUIRED)
 
 # - optional
+armarx_find_package(PUBLIC armarx::control)
 armarx_find_package(PUBLIC ArmarXGui)
 armarx_find_package(PUBLIC MemoryX QUIET)
 armarx_find_package(PUBLIC VisionX QUIET)

data/armarx_navigation/controller_config/PlatformTrajectory/default.json

+{
+  "params": {
+    "pidPos": {
+      "Kp": 1,
+      "Ki": 0,
+      "Kd": 0
+    },
+    "pidOri": {
+      "Kp": 1,
+      "Ki": 0,
+      "Kd": 0
+    },
+    "limits": {
+      "linear": 300,
+      "angular": 0.2
+    }
+  },
+  "targets": {
+    "trajectory": {
+      "points": []
+    }
+  }
+}

examples/components/example_client/Component.cpp

@@ -30,14 +30,14 @@
 #include <Eigen/src/Geometry/AngleAxis.h>
 #include <Eigen/src/Geometry/Translation.h>
 
-#include "ArmarXCore/core/logging/Logging.h"
-#include "ArmarXCore/core/time/Clock.h"
-#include "ArmarXCore/core/time/ClockType.h"
-#include "ArmarXCore/core/time/forward_declarations.h"
+#include <ArmarXCore/core/logging/Logging.h>
+#include <ArmarXCore/core/time/Clock.h>
+#include <ArmarXCore/core/time/ClockType.h>
+#include <ArmarXCore/core/time/forward_declarations.h>
 #include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
-#include "armarx/navigation/client/types.h"
-#include "armarx/navigation/global_planning/Point2Point.h"
+#include <armarx/navigation/client/types.h>
+#include <armarx/navigation/global_planning/Point2Point.h>
 #include <armarx/navigation/client/PathBuilder.h>
 #include <armarx/navigation/global_planning/AStar.h>
 #include <armarx/navigation/trajectory_control/TrajectoryFollowingController.h>
@@ -125,8 +125,6 @@ namespace armarx::navigation::components::example_client
 
         getNavigator().moveTo(goal, core::NavigationFrame::Absolute);
 
-        Clock::WaitFor(Duration::Seconds(15));
-
         // Wait until goal is reached
         armarx::navigation::client::StopEvent se = getNavigator().waitForStop();
         if (se)
@@ -292,10 +290,9 @@ namespace armarx::navigation::components::example_client
         ARMARX_INFO << "Moving to goal pose";
         // Start moving to goal position using above config.
 
-        auto& virtualRobotReader = virtualRobotReaderPlugin->get(); 
+        auto& virtualRobotReader = virtualRobotReaderPlugin->get();
 
-        auto robot =
-            virtualRobotReader.getSynchronizedRobot(properties.robotName, armarx::Clock::Now());
+        auto robot = virtualRobotReader.getSynchronizedRobot(properties.robotName);
         ARMARX_CHECK_NOT_NULL(robot);
 
         const core::Pose initialPose(robot->getGlobalPose());

examples/components/example_client/Component.h

@@ -27,8 +27,8 @@
 #include <ArmarXCore/util/tasks.h>
 
 #include <armarx/navigation/client.h>
-#include "RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h"
-#include "RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h"
+#include <RobotAPI/libraries/armem/client/plugins/ReaderWriterPlugin.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.h>
 #include <RobotAPI/libraries/armem/client/plugins.h>
 
 

scenarios/NavigationSimulation/NavigationSimulation.scx

@@ -45,7 +45,7 @@
 	<application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="RobotStateMemory" instance="" package="RobotAPI" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="MotionPlanningServerApp" instance="" package="RobotComponents" nodeName="" enabled="false" iceAutoRestart="false"/>
-	<application name="LaserScannerPointCloudProviderApp" instance="" package="VisionX" nodeName="" enabled="true" iceAutoRestart="false"/>
+	<application name="LaserScannerPointCloudProviderApp" instance="" package="VisionX" nodeName="" enabled="false" iceAutoRestart="false"/>
 	<application name="LaserScannerSimulation" instance="" package="ArmarXSimulation" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="VisionMemory" instance="" package="VisionX" nodeName="" enabled="true" iceAutoRestart="false"/>
 </scenario>

scenarios/NavigationSimulation/config/ArticulatedObjectLocalizerDynamicSimulation.cfg

@@ -133,14 +133,6 @@ ArmarX.ArticulatedObjectLocalizerDynamicSimulation.mem.obj.articulated.ProviderN
 # ArmarX.ArticulatedObjectLocalizerDynamicSimulation.objects = Default value not mapped.
 
 
-# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.ArticulatedObjectLocalizerDynamicSimulation.tpc.sub.MemoryListener = MemoryUpdates
-
-
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache

scenarios/NavigationSimulation/config/ObjectMemory.cfg

@@ -142,14 +142,6 @@ ArmarX.ObjectMemory.MinimumLoggingLevel = Debug
 # 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
@@ -487,6 +479,31 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_r
 # ArmarX.ObjectMemory.mem.inst.visu.oobbs = false
 
 
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show:  Show arrows linearly predicting object positions.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.show = false
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset:  The offset (in seconds) to the current time to make predictions for.
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeOffset = 1
+
+
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow:  The time window (in seconds) into the past to perform the regression on.
+#  Attributes:
+#  - Default:            2
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.inst.visu.predictions.linear.timeWindow = 2
+
+
 # ArmarX.ObjectMemory.mem.inst.visu.useArticulatedModels:  Prefer articulated object models if available.
 #  Attributes:
 #  - Default:            true
@@ -616,6 +633,38 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_r
 # ArmarX.ObjectMemory.mem.ltm.storagepath = Default value not mapped.
 
 
+# ArmarX.ObjectMemory.mem.robot_state.Memory:  
+#  Attributes:
+#  - Default:            RobotState
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment:  
+#  Attributes:
+#  - Default:            Description
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment = Description
+
+
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment:  
+#  Attributes:
+#  - Default:            Localization
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment:  
+#  Attributes:
+#  - Default:            Proprioception
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment = Proprioception
+
+
 # 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:
@@ -634,28 +683,28 @@ ArmarX.ObjectMemory.mem.inst.scene.12_SnapshotToLoad = R003_grasping_challenge_r
 # ArmarX.ObjectMemory.mns.MemoryNameSystemName = MemoryNameSystem
 
 
-# ArmarX.ObjectMemory.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
+# ArmarX.ObjectMemory.prediction.TimeWindow:  Duration of time window into the past to use for predictions when requested via the PredictingMemoryInterface (in seconds).
 #  Attributes:
-#  - Default:            DebugObserver
+#  - Default:            2
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ObjectMemory.tpc.pub.DebugObserver = DebugObserver
+# ArmarX.ObjectMemory.prediction.TimeWindow = 2
 
 
-# ArmarX.ObjectMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
+# ArmarX.ObjectMemory.robotName:  
 #  Attributes:
-#  - Default:            MemoryUpdates
+#  - Default:            Armar6
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ObjectMemory.tpc.pub.MemoryListener = MemoryUpdates
+# ArmarX.ObjectMemory.robotName = Armar6
 
 
-# ArmarX.ObjectMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
 #  Attributes:
-#  - Default:            MemoryUpdates
+#  - Default:            DebugObserver
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.ObjectMemory.tpc.sub.MemoryListener = MemoryUpdates
+# ArmarX.ObjectMemory.tpc.pub.DebugObserver = DebugObserver
 
 
 # ArmarX.ObjectMemory.tpc.sub.ObjectPoseTopic:  Name of the `ObjectPoseTopic` topic to subscribe to.

scenarios/NavigationSimulation/config/RobotStateMemory.cfg

@@ -435,22 +435,6 @@ ArmarX.RobotStateMemory.seg.localization.MaxHistorySize = 3000
 ArmarX.RobotStateMemory.seg.proprioception.MaxHistorySize = 3000
 
 
-# ArmarX.RobotStateMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.RobotStateMemory.tpc.pub.MemoryListener = MemoryUpdates
-
-
-# ArmarX.RobotStateMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.RobotStateMemory.tpc.sub.MemoryListener = MemoryUpdates
-
-
 # ArmarX.SecondsStartupDelay:  The startup will be delayed by this number of seconds (useful for debugging)
 #  Attributes:
 #  - Default:            0

scenarios/NavigationSimulation/config/RobotUnitSimulationApp.cfg

@@ -363,7 +363,7 @@ ArmarX.RobotUnitSimulation.InverseDynamicsRobotJointSets = PlatformRightArm
 #  - Case sensitivity:   yes
 #  - Required:           no
 #  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
-# ArmarX.RobotUnitSimulation.MinimumLoggingLevel = Undefined
+ArmarX.RobotUnitSimulation.MinimumLoggingLevel = Info
 
 
 # ArmarX.RobotUnitSimulation.NjointController_AllowedExecutionTimePerControlDeviceUntilError:  An Error will be printed, If the execution time in micro seconds of a NJointControllerBase exceeds this parameter times the number of ControlDevices.

scenarios/NavigationSimulation/config/SelfLocalizationDynamicSimulationApp.cfg

@@ -299,14 +299,6 @@ ArmarX.SelfLocalizationDynamicSimulation.mem.robot_state.Memory = RobotState
 # ArmarX.SelfLocalizationDynamicSimulation.tpc.pub.PlatformUnit = PlatformUnit
 
 
-# ArmarX.SelfLocalizationDynamicSimulation.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.SelfLocalizationDynamicSimulation.tpc.sub.MemoryListener = MemoryUpdates
-
-
 # ArmarX.SelfLocalizationDynamicSimulation.working_memory.update:  If enabled, updates the global pose in the working memory
 #  Attributes:
 #  - Default:            true

scenarios/NavigationSimulation/config/SimulatorApp.cfg

@@ -900,7 +900,7 @@ ArmarX.Simulator.SimulationType = kinematics
 #  - Default:            25
 #  - Case sensitivity:   yes
 #  - Required:           no
-# ArmarX.Simulator.StepTimeMS = 25
+ArmarX.Simulator.StepTimeMS = 10
 
 
 # ArmarX.Simulator.WorkingMemoryName:  Name of WorkingMemory

scenarios/NavigationSimulation/config/VisionMemory.cfg

@@ -364,19 +364,3 @@
 # ArmarX.VisionMemory.pointCloudMaxHistorySize = 20
 
 
-# ArmarX.VisionMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.VisionMemory.tpc.pub.MemoryListener = MemoryUpdates
-
-
-# ArmarX.VisionMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.VisionMemory.tpc.sub.MemoryListener = MemoryUpdates
-
-

scenarios/PlatformNavigation/PlatformNavigation.scx

@@ -6,7 +6,8 @@
 	<application name="MemoryNameSystem" instance="" package="RobotAPI" nodeName="" enabled="false" iceAutoRestart="false"/>
 	<application name="navigator" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="navigation_memory" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
-	<application name="example_client" instance="" package="armarx_navigation" nodeName="" enabled="false" iceAutoRestart="false"/>
+	<application name="example_client" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
 	<application name="VisionMemory" instance="" package="VisionX" nodeName="" enabled="false" iceAutoRestart="false"/>
+	<application name="control_memory" instance="" package="armarx_control" nodeName="" enabled="true" iceAutoRestart="false"/>
 </scenario>
 

scenarios/PlatformNavigation/config/ObjectMemory.cfg

@@ -142,14 +142,6 @@
 # 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
@@ -641,6 +633,38 @@
 # ArmarX.ObjectMemory.mem.ltm.storagepath = Default value not mapped.
 
 
+# ArmarX.ObjectMemory.mem.robot_state.Memory:  
+#  Attributes:
+#  - Default:            RobotState
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.Memory = RobotState
+
+
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment:  
+#  Attributes:
+#  - Default:            Description
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.descriptionSegment = Description
+
+
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment:  
+#  Attributes:
+#  - Default:            Localization
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.localizationSegment = Localization
+
+
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment:  
+#  Attributes:
+#  - Default:            Proprioception
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ObjectMemory.mem.robot_state.proprioceptionSegment = Proprioception
+
+
 # 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:
@@ -749,5 +773,3 @@
 #  - Required:           no
 #  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
 # ArmarX.Verbosity = Info
-
-

scenarios/PlatformNavigation/config/VisionMemory.cfg

@@ -364,19 +364,3 @@
 # ArmarX.VisionMemory.pointCloudMaxHistorySize = 20
 
 
-# ArmarX.VisionMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.VisionMemory.tpc.pub.MemoryListener = MemoryUpdates
-
-
-# ArmarX.VisionMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.VisionMemory.tpc.sub.MemoryListener = MemoryUpdates
-
-

scenarios/PlatformNavigation/config/control_memory.cfg

+# ==================================================================
+# control_memory 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_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+#  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.ControlMemory.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.ControlMemory.ArVizTopicName:  Name of the ArViz topic
+#  Attributes:
+#  - Default:            ArVizTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.ControlMemory.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.ControlMemory.EnableProfiling = false
+
+
+# ArmarX.ControlMemory.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.ControlMemory.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.ControlMemory.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.ObjectName = ""
+
+
+# ArmarX.ControlMemory.RemoteGuiName:  Name of the remote gui provider
+#  Attributes:
+#  - Default:            RemoteGuiProvider
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.RemoteGuiName = RemoteGuiProvider
+
+
+# ArmarX.ControlMemory.mem.MemoryName:  Name of this memory server.
+#  Attributes:
+#  - Default:            Control
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.MemoryName = Control
+
+
+# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq:  Frequency to store the buffer to the LTM in Hz.
+#  Attributes:
+#  - Default:            10
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm..buffer.storeFreq = 10
+
+
+# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.depthImageExtractor.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.exrConverter.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.imageExtractor.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.Enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime:  Waiting time in MS after each LTM update.
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.memFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled:  
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.pngConverter.Enabled = true
+
+
+# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes:  The size in MB to compress away the current export. Exports are numbered (lower number means newer).
+#  Attributes:
+#  - Default:            1024
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.sizeToCompressDataInMegaBytes = 1024
+
+
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.Enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime:  Max Waiting time in MS after each Entity update.
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.snapEqFilter.MaxWaitingTime = -1
+
+
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled:  
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.Enabled = false
+
+
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime:  Waiting time in MS after each Entity update.
+#  Attributes:
+#  - Default:            -1
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.snapFreqFilter.WaitingTime = -1
+
+
+# ArmarX.ControlMemory.mem.ltm.storagepath:  The path to the memory storage (the memory will be stored in a seperate subfolder).
+#  Attributes:
+#  - Default:            Default value not mapped.
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mem.ltm.storagepath = Default value not mapped.
+
+
+# ArmarX.ControlMemory.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.ControlMemory.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.ControlMemory.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
+#  Attributes:
+#  - Default:            MemoryNameSystem
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.ControlMemory.p.locationGraph.visuFrequency:  Visualization frequeny of locations and graph edges [Hz].
+#  Attributes:
+#  - Default:            2
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.p.locationGraph.visuFrequency = 2
+
+
+# ArmarX.ControlMemory.p.snapshotToLoad:  Memory snapshot to load at start up 
+# (e.g. 'PriorKnowledgeData/navigation-graphs/snapshot').
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.ControlMemory.p.snapshotToLoad = ""
+
+
+# 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.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
+
+

scenarios/PlatformNavigation/config/navigation_memory.cfg

@@ -323,22 +323,6 @@
 ArmarX.NavigationMemory.p.snapshotToLoad = ./PriorKnowledgeData/navigation-graphs/audimax-science-week-opening
 
 
-# ArmarX.NavigationMemory.tpc.pub.MemoryListener:  Name of the `MemoryListener` topic to publish data to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.NavigationMemory.tpc.pub.MemoryListener = MemoryUpdates
-
-
-# ArmarX.NavigationMemory.tpc.sub.MemoryListener:  Name of the `MemoryListener` topic to subscribe to.
-#  Attributes:
-#  - Default:            MemoryUpdates
-#  - Case sensitivity:   yes
-#  - Required:           no
-# ArmarX.NavigationMemory.tpc.sub.MemoryListener = MemoryUpdates
-
-
 # ArmarX.RedirectStdout:  Redirect std::cout and std::cerr to ArmarXLog
 #  Attributes:
 #  - Default:            true

scenarios/PlatformNavigation/config/navigator.cfg

@@ -142,10 +142,17 @@
 ArmarX.Navigator.ObjectName = navigator
 
 
-# ArmarX.Navigator.cmp.PlatformUnit:  Ice object name of the `PlatformUnit` component.
+# ArmarX.Navigator.RobotUnitName:  Name of the RobotUnit
 #  Attributes:
-#  - Default:            PlatformUnit
 #  - Case sensitivity:   yes
+#  - Required:           yes
+ArmarX.Navigator.RobotUnitName = Armar6Unit
+
+
+# ArmarX.Navigator.cmp.PlatformUnit:  No Description
+#  Attributes:
+#  - Default:            Armar6PlatformUnit
+#  - Case sensitivity:   no
 #  - Required:           no
 ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
 
@@ -302,22 +309,6 @@ ArmarX.Navigator.cmp.PlatformUnit = Armar6PlatformUnit
 # ArmarX.Navigator.mem.robot_state.proprioceptionSegment = Proprioception
 
 
-# ArmarX.Navigator.mem.vision.occupancy_grid.CoreSegment:  No Description
-#  Attributes:
-#  - Default:            OccupancyGrid
-#  - Case sensitivity:   no
-#  - Required:           no
-ArmarX.Navigator.mem.vision.occupancy_grid.CoreSegment = OccupancyGrid
-
-
-# ArmarX.Navigator.mem.vision.occupancy_grid.Memory:  No Description
-#  Attributes:
-#  - Default:            Vision
-#  - Case sensitivity:   no
-#  - Required:           no
-ArmarX.Navigator.mem.vision.occupancy_grid.Memory = Vision
-
-
 # ArmarX.Navigator.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:
@@ -418,5 +409,3 @@ ArmarX.Navigator.p.occupancy_grid.occopied_threshold = 0.8
 #  - Required:           no
 #  - Possible values: {Debug, Error, Fatal, Important, Info, Undefined, Verbose, Warning}
 ArmarX.Verbosity = Verbose
-
-

scenarios/PlatformNavigationDynamic/PlatformNavigationDynamic.scx

+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="PlatformNavigationDynamic" creation="2022-06-28.19:38:05" globalConfigName="./config/global.cfg" package="armarx_navigation" deploymentType="local" nodeName="NodeMain">
+	<application name="dynamic_distance_to_obstacle_costmap_provider" instance="" package="armarx_navigation" nodeName="" enabled="true" iceAutoRestart="false"/>
+</scenario>
+

scenarios/PlatformNavigationDynamic/config/dynamic_distance_to_obstacle_costmap_provider.cfg

+# ==================================================================
+# dynamic_distance_to_obstacle_costmap_provider 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_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
+#  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.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
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ArVizStorageName:  Name of the ArViz storage
+#  Attributes:
+#  - Default:            ArVizStorage
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ArVizStorageName = ArVizStorage
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ArVizTopicName:  Name of the ArViz topic
+#  Attributes:
+#  - Default:            ArVizTopic
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ArVizTopicName = ArVizTopic
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.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.dynamic_distance_to_obstacle_costmap_provider.EnableProfiling = false
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.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.dynamic_distance_to_obstacle_costmap_provider.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.ObjectName = ""
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.CoreSegment:  
+#  Attributes:
+#  - Default:            Costmap
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.CoreSegment = Costmap
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Memory:  
+#  Attributes:
+#  - Default:            Navigation
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Memory = Navigation
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Provider:  Name of this provider
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.nav.costmap.Provider = ""
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.CoreSegment:  Name of the mapping memory core segment to use.
+#  Attributes:
+#  - Default:            LaserScannerFeatures
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.CoreSegment = LaserScannerFeatures
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.MemoryName:  
+#  Attributes:
+#  - Default:            Vision
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mem.vision.laser_scanner_features.MemoryName = Vision
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.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.dynamic_distance_to_obstacle_costmap_provider.mns.MemoryNameSystemEnabled = true
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mns.MemoryNameSystemName:  Name of the Memory Name System (MNS) component.
+#  Attributes:
+#  - Default:            MemoryNameSystem
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.mns.MemoryNameSystemName = MemoryNameSystem
+
+
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.p.updatePeriodMs:  
+#  Attributes:
+#  - Default:            100
+#  - Case sensitivity:   yes
+#  - Required:           no
+# ArmarX.dynamic_distance_to_obstacle_costmap_provider.p.updatePeriodMs = 100
+
+