Move LaserScannerFeatureExtraction to navigation

Move the LaserScannerFeatureExtraction component to navigation and move the Features from the Vision memory to the Navigation memory.

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

@@ -168,6 +168,7 @@ namespace armarx::navigation::components::navigator
                 .costmapReader = &costmapReaderPlugin->get(),
                 .virtualRobotReader = &virtualRobotReaderPlugin->get(),
                 .humanReader = &humanReaderPlugin->get(),
+                .laserScannerFeaturesReader = &laserScannerFeaturesReaderPlugin->get(),
                 .objectPoseClient = ObjectPoseClientPluginUser::getClient()};
 
             sceneProvider.emplace(srv, params.sceneCfg);
@@ -235,7 +236,6 @@ namespace armarx::navigation::components::navigator
         return "navigator";
     }
 
-
     void
     Component::createConfig(const aron::data::dto::DictPtr& stackConfig,
                             const std::string& callerId,
@@ -293,7 +293,8 @@ namespace armarx::navigation::components::navigator
     {
         ARMARX_TRACE;
 
-        ARMARX_INFO << "moveTo() requested by caller '" << callerId << "' with navigation mode `" << navigationMode << "`.";
+        ARMARX_INFO << "moveTo() requested by caller '" << callerId << "' with navigation mode `"
+                    << navigationMode << "`.";
         ARMARX_CHECK(navigators.count(callerId) > 0)
             << "Navigator config for caller `" << callerId << "` not registered!";
 
@@ -345,7 +346,6 @@ namespace armarx::navigation::components::navigator
                                        core::NavigationFrameNames.from_name(navigationMode));
     }
 
-
     void
     Component::moveTo2(const client::detail::Waypoints& waypoints,
                        const std::string& navigationMode,
@@ -363,13 +363,15 @@ namespace armarx::navigation::components::navigator
 
         navigators.at(callerId).moveTo(wps, core::NavigationFrameNames.from_name(navigationMode));
     }
-    
-    void Component::moveToLocation(const std::string& location,
-                         const std::string& callerId,
-                         const Ice::Current& c)
+
+    void
+    Component::moveToLocation(const std::string& location,
+                              const std::string& callerId,
+                              const Ice::Current& c)
     {
         ARMARX_TRACE;
-        ARMARX_INFO << "MoveToLocation `" << location << "` requested by caller '" << callerId << "'";
+        ARMARX_INFO << "MoveToLocation `" << location << "` requested by caller '" << callerId
+                    << "'";
 
         ARMARX_CHECK(navigators.count(callerId) > 0)
             << "Navigator config for caller `" << callerId << "` not registered!";
@@ -501,9 +503,12 @@ namespace armarx::navigation::components::navigator
                       "but won't execute it.");
 
         def->required(params.sceneCfg.robotName, "p.scene.robotName");
-        def->optional(params.sceneCfg.staticCostmapProviderName, "p.scene.staticCostmapProviderName");
+        def->optional(params.sceneCfg.staticCostmapProviderName,
+                      "p.scene.staticCostmapProviderName");
         def->optional(params.sceneCfg.staticCostmapName, "p.scene.staticCostmapName");
         def->optional(params.sceneCfg.humanProviderName, "p.scene.humanProviderName");
+        def->optional(params.sceneCfg.laserScannerFeaturesProviderName,
+                      "p.scene.laserScannerFeaturesProviderName");
 
         return def;
     }