Add single shot option to ObjectPoseProviderExample

scenarios/ArMemObjectMemory/config/ObjectPoseProviderExample.cfg

@@ -135,6 +135,15 @@
 # ArmarX.ObjectPoseProviderExample.Objects = KIT/Amicelli, KIT/YellowSaltCylinder
 
 
+# ArmarX.ObjectPoseProviderExample.SingleShot:  If true, publishes only one snapshot.
+#  Attributes:
+#  - Default:            false
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.ObjectPoseProviderExample.SingleShot = false
+
+
 # ArmarX.ObjectPoseProviderExample.tpc.pub.DebugObserver:  Name of the `DebugObserver` topic to publish data to.
 #  Attributes:
 #  - Default:            DebugObserver

source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.cpp

@@ -42,6 +42,8 @@ namespace armarx
         defs->optional(initialObjectIDs, "Objects", "Object IDs of objects to be tracked.")
         .map(simox::alg::join(initialObjectIDs, ", "), initialObjectIDs);
 
+        defs->optional(singleShot, "SingleShot", "If true, publishes only one snapshot.");
+
         return defs;
     }
 
@@ -172,6 +174,11 @@ namespace armarx
             ARMARX_VERBOSE << "Reporting " << poses.size() << " object poses";
             objectPoseTopic->reportObjectPoses(getName(), poses);
 
+            if (singleShot)
+            {
+                break;
+            }
+
             cycle.waitForCycleDuration();
         }
     }

source/RobotAPI/components/ObjectPoseProviderExample/ObjectPoseProviderExample.h

@@ -102,6 +102,8 @@ namespace armarx
 
         armarx::ObjectFinder objectFinder;
         std::vector<std::string> initialObjectIDs = { "KIT/Amicelli", "KIT/YellowSaltCylinder" };
+        bool singleShot = false;
+
 
         armarx::SimpleRunningTask<>::pointer_type poseEstimationTask;