From 0b0fbb28a3362b8c9c10bb5d6ceda34b3f091b49 Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 27 May 2021 08:16:17 +0200
Subject: [PATCH] VirtualRobotReader: synchronizing robot when new robot is
requested
---
.../armem_robot_state/client/common/VirtualRobotReader.cpp | 7 ++++++-
1 file changed, 6 insertions(+), 1 deletion(-)
diff --git a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
index 97633b788..a1fbd970f 100644
--- a/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotReader.cpp
@@ -6,6 +6,7 @@
#include <VirtualRobot/XML/RobotIO.h>
#include "ArmarXCore/core/PackagePath.h"
+#include "ArmarXCore/core/logging/Logging.h"
#include "ArmarXCore/core/system/ArmarXDataPath.h"
#include "ArmarXCore/core/system/cmake/CMakePackageFinder.h"
@@ -41,6 +42,7 @@ namespace armarx::armem::robot_state
const auto robotState = queryState(robotDescription, timestamp);
if (not robotState)
{
+ ARMARX_WARNING << "Querying robot state failed!";
return false;
}
@@ -65,8 +67,11 @@ namespace armarx::armem::robot_state
const std::string xmlFilename = ArmarXDataPath::resolvePath(description->xml.serialize().path);
ARMARX_INFO << "Loading (virtual) robot '" << description->name << "' from XML file '" << xmlFilename << "'";
- return VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+ auto robot = VirtualRobot::RobotIO::loadRobot(xmlFilename, loadMode);
+ synchronizeRobot(*robot, timestamp);
+
+ return robot;
}
--
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