Load location names, add NavigateToNamedLocation skill

Requires

•   sw/armarx/robot-api!402 (merged)
•   sw/simox/simox!155 (merged)

Related to

•   https://git.h2t.iar.kit.edu/sw/armarx/prior-knowledge-data/-/merge_requests/35

Add Names of type armarx::arondto::Names to locations which can be loaded from Prior Knowledge

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

@@ -27,21 +27,21 @@
 #include <iostream>
 #include <iterator>
 
-#include "ArmarXCore/core/Component.h"
-#include "ArmarXCore/core/time/Metronome.h"
-#include "ArmarXCore/core/time/forward_declarations.h"
+#include <ArmarXCore/core/Component.h>
 #include <ArmarXCore/core/eigen/ice_conversions.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
 #include <ArmarXCore/core/time/CycleUtil.h>
+#include <ArmarXCore/core/time/Metronome.h>
+#include <ArmarXCore/core/time/forward_declarations.h>
 #include <ArmarXCore/libraries/DecoupledSingleComponent/Decoupled.h>
 
-#include "RobotAPI/libraries/armem/core/MemoryID.h"
-#include "RobotAPI/libraries/armem/core/wm/aron_conversions.h"
 #include <RobotAPI/libraries/PriorKnowledge/navigation_graphs/NavigationGraphFinder.h>
 #include <RobotAPI/libraries/PriorKnowledge/util/LocationLoader/LocationLoader.h>
 #include <RobotAPI/libraries/armem/client/query.h>
+#include <RobotAPI/libraries/armem/core/MemoryID.h>
 #include <RobotAPI/libraries/armem/core/aron_conversions.h>
 #include <RobotAPI/libraries/armem/core/operations.h>
+#include <RobotAPI/libraries/armem/core/wm/aron_conversions.h>
 #include <RobotAPI/libraries/armem/server/ltm/disk/Memory.h>
 #include <RobotAPI/libraries/armem/server/wm/memory_definitions.h>
 #include <RobotAPI/libraries/aron/common/aron_conversions.h>
@@ -415,8 +415,6 @@ namespace armarx::navigation::components::navigation_memory
 
                     for (const auto& location : locations)
                     {
-                        navigation::location::arondto::Location loc;
-
                         // we assert that only framedLocations are allowed. Everything else will be rejected!
                         if (location->type !=
                             armarx::priorknowledge::util::LocationType::FRAMED_LOCATION)
@@ -427,19 +425,21 @@ namespace armarx::navigation::components::navigation_memory
                                        "'armarx::priorknowledge::util::LocationType:"
                                        ":FRAMED_LOCATION' (e.g. you specified a "
                                        "FRAMED_BOXED_LOCATION?). Only FramedLocations (i.e. "
-                                       "poses in 3d space) are "
-                                       "navigatable. Ignoring this location but "
-                                       "please check the location.json file...";
+                                       "poses in 3D space) are navigatable. Ignoring this location "
+                                       "but please check the location.json file.";
                             continue;
                         }
 
                         auto& framedLocation =
                             dynamic_cast<armarx::priorknowledge::util::FramedLocation&>(*location);
 
+                        navigation::location::arondto::Location loc;
+
                         // set members of loc
                         loc.framedPose.header.frame = framedLocation.frame;
                         loc.framedPose.header.agent = framedLocation.agent;
                         loc.framedPose.pose = framedLocation.pose;
+                        toAron(loc.names, framedLocation.names);
 
                         // send commit to memory
                         auto& up = c.add();