support for ARMAR-DE

source/armarx/view_selection/components/gaze_scheduler/Scheduler.cpp

@@ -447,7 +447,7 @@ namespace armarx::view_selection::gaze_scheduler
     }
 
     Scheduler::RobotNodeNames
-    Scheduler::getRobotNodeNames(std::string robotName)
+    Scheduler::getRobotNodeNames(const std::string& robotName)
     {
         RobotNodeNames nodeNames;
         if (robotName == "Armar6")
@@ -458,9 +458,18 @@ namespace armarx::view_selection::gaze_scheduler
             nodeNames.cameraNodeName = "DepthCamera";
             nodeNames.torsoNodeName = "TorsoJoint";
         }
+        else if(robotName == "ArmarDE")
+        {
+
+            nodeNames.cameraFrameName = "DepthCamera";
+            nodeNames.pitchNodeName = "Neck_1_Pitch";
+            nodeNames.yawNodeName = "Neck_2_Yaw";
+            nodeNames.cameraNodeName = "DepthCamera";
+            nodeNames.torsoNodeName = "TorsoJoint";
+        }
         else
         {
-            ARMARX_WARNING << "robotName not known, using fallback values";
+            ARMARX_FATAL << "Robot name `" << robotName <<"` not known!";
         }
         return nodeNames;
     }

source/armarx/view_selection/components/gaze_scheduler/Scheduler.h

@@ -106,9 +106,10 @@ namespace armarx::view_selection::gaze_scheduler
             std::string cameraNodeName = "DepthCamera";
             std::string torsoNodeName = "TorsoJoint";
         };
+
+       
         // return node names for given robot
-        // TODO: implement this function for other robots than Armar6
-        RobotNodeNames getRobotNodeNames(std::string robotName);
+        RobotNodeNames getRobotNodeNames(const std::string& robotName);
 
         //check whether the current target is out of time and reschedule
         void checkTargetDeadline();