diff --git a/CMakeLists.txt b/CMakeLists.txt
index cd15ab478ba627b71a3eea5fa1159e6d5cbf9619..a0f73bd4fe3434516a9528fe308fe8c2c25ce29f 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -16,10 +16,15 @@ depends_on_armarx_package(ArmarXGui "OPTIONAL")
set(ArmarX_Simox_VERSION 2.3.16)
+find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
+if (Simox_FOUND)
+ setupSimoxExternalLibraries()
+endif()
+
add_subdirectory(source)
list(APPEND CPACK_DEBIAN_PACKAGE_DEPENDS "simox")
install_project()
-add_subdirectory(scenarios)
\ No newline at end of file
+add_subdirectory(scenarios)
diff --git a/data/RobotAPI/VariantInfo-RobotAPI.xml b/data/RobotAPI/VariantInfo-RobotAPI.xml
index 8dee1c90a6e82984cc2144c5a1b29298cc0911aa..4d490440cbe8afbb145564d63c638b5235ecf7f2 100644
--- a/data/RobotAPI/VariantInfo-RobotAPI.xml
+++ b/data/RobotAPI/VariantInfo-RobotAPI.xml
@@ -81,6 +81,14 @@
propertyName="WeissHapticUnitName"
propertyIsOptional="true"
propertyDefaultValue="WeissHapticUnit" />
+ <Proxy include="RobotAPI/interface/units/HeadIKUnit.h"
+ humanName="Head IK Unit"
+ typeName="HeadIKUnitInterfacePrx"
+ memberName="headIKUnit"
+ getterName="getHeadIKUnit"
+ propertyName="HeadIKUnitName"
+ propertyIsOptional="true"
+ propertyDefaultValue="HeadIKUnit" />
<Proxy include="RobotAPI/interface/core/RobotState.h"
humanName="Robot State Component"
typeName="RobotStateComponentInterfacePrx"
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
index 2d846aa86220f7b6ca80fdf577947ad98e52af2c..68b453a3fafa5be3e9edfaae1e15455ae349d4db 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-Head.xml
@@ -33,7 +33,7 @@
<Joint type="revolute">
<!--DH theta="90" d="0" a="0" alpha="90" unitsangle="degree" unitslength="mm"/-->
<axis x="0" y="0" z="-1"/>
- <Limits unit="degree" lo="-45" hi="38"/>
+ <Limits unit="degree" lo="-45" hi="37"/>
<MaxVelocity unit="radian" value="1"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
diff --git a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
index 3f4b75084f79e4c0567a0dd2ad4d711910cb3898..34e053589c8c97c5522615bc169da0c160426f1f 100644
--- a/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
+++ b/data/RobotAPI/robots/Armar3/ArmarIII-RightArm.xml
@@ -173,7 +173,7 @@
</Transform>
<Joint type="revolute">
<!--DH a="0" d="0" theta="-90" alpha="90" units="degree"/-->
- <Limits unit="degree" lo="-31" hi="38"/>
+ <Limits unit="degree" lo="-31" hi="37"/>
<MaxVelocity unit="radian" value="0.5"/>
<MaxAcceleration value="10"/>
<MaxTorque value="3000"/>
diff --git a/source/RobotAPI/components/DebugDrawer/CMakeLists.txt b/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
index 0b1f1c08e388326ead4f3b1eab0deea6e7d00817..80523e46f0dff7b0804e34279b300b3316e165ec 100644
--- a/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
+++ b/source/RobotAPI/components/DebugDrawer/CMakeLists.txt
@@ -7,7 +7,7 @@ armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
if (Eigen3_FOUND AND Simox_FOUND)
-
+ setupSimoxExternalLibraries()
include_directories(
${Eigen3_INCLUDE_DIR}
${Simox_INCLUDE_DIRS}
diff --git a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
index 3a0de019a99a2db556f9d3057d3ef0ae886d8bf5..c88020b14e4efb3061253bd514c66125db7cbe01 100644
--- a/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
+++ b/source/RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp
@@ -23,6 +23,8 @@
#include "DebugDrawerComponent.h"
+
+#include <VirtualRobot/VirtualRobot.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualizationFactory.h>
#include <VirtualRobot/Visualization/CoinVisualization/CoinVisualization.h>
#include <Inventor/nodes/SoUnits.h>
@@ -1401,7 +1403,7 @@ namespace armarx
d.layerName = layerName;
d.name = robotName;
- for (auto & it : configuration)
+ for (auto& it : configuration)
{
d.configuration[it.first] = it.second;
}
@@ -1448,7 +1450,7 @@ namespace armarx
void DebugDrawerComponent::clearAll(const Ice::Current&)
{
- for (auto & i : layers)
+ for (auto& i : layers)
{
clearLayer(i.first);
}
@@ -1481,57 +1483,57 @@ namespace armarx
auto& layer = layers.at(layerName);
- for (const auto & i : layer.addedCoordVisualizations)
+ for (const auto& i : layer.addedCoordVisualizations)
{
removePoseVisu(layerName, i.first);
}
- for (const auto & i : layer.addedLineVisualizations)
+ for (const auto& i : layer.addedLineVisualizations)
{
removeLineVisu(layerName, i.first);
}
- for (const auto & i : layer.addedBoxVisualizations)
+ for (const auto& i : layer.addedBoxVisualizations)
{
removeBoxVisu(layerName, i.first);
}
- for (const auto & i : layer.addedTextVisualizations)
+ for (const auto& i : layer.addedTextVisualizations)
{
removeTextVisu(layerName, i.first);
}
- for (const auto & i : layer.addedSphereVisualizations)
+ for (const auto& i : layer.addedSphereVisualizations)
{
removeSphereVisu(layerName, i.first);
}
- for (const auto & i : layer.addedCylinderVisualizations)
+ for (const auto& i : layer.addedCylinderVisualizations)
{
removeCylinderVisu(layerName, i.first);
}
- for (const auto & i : layer.addedPointCloudVisualizations)
+ for (const auto& i : layer.addedPointCloudVisualizations)
{
removePointCloudVisu(layerName, i.first);
}
- for (const auto & i : layer.addedPolygonVisualizations)
+ for (const auto& i : layer.addedPolygonVisualizations)
{
removePolygonVisu(layerName, i.first);
}
- for (const auto & i : layer.addedArrowVisualizations)
+ for (const auto& i : layer.addedArrowVisualizations)
{
removeArrowVisu(layerName, i.first);
}
- for (const auto & i : layer.addedRobotVisualizations)
+ for (const auto& i : layer.addedRobotVisualizations)
{
removeRobotVisu(layerName, i.first);
}
- for (const auto & i : layer.addedCustomVisualizations)
+ for (const auto& i : layer.addedCustomVisualizations)
{
removeCustomVisu(layerName, i.first);
}
@@ -1908,7 +1910,7 @@ namespace armarx
ScopedRecursiveLockPtr l = getScopedVisuLock();
StringSequence seq {};
- for (const auto & layer : layers)
+ for (const auto& layer : layers)
{
seq.push_back(layer.first);
}
@@ -1921,7 +1923,7 @@ namespace armarx
::armarx::LayerInformationSequence seq {};
ScopedRecursiveLockPtr l = getScopedVisuLock();
- for (const auto & layer : layers)
+ for (const auto& layer : layers)
{
int count = layer.second.addedCoordVisualizations.size() +
layer.second.addedLineVisualizations.size() +
diff --git a/source/RobotAPI/components/RobotState/CMakeLists.txt b/source/RobotAPI/components/RobotState/CMakeLists.txt
index fa39860ac77df6f7e32fd8d86392cd06ba2537b6..246213dd5994fd1a196ebbcb087962382581b6b3 100644
--- a/source/RobotAPI/components/RobotState/CMakeLists.txt
+++ b/source/RobotAPI/components/RobotState/CMakeLists.txt
@@ -1,8 +1,7 @@
-armarx_set_target("Core Library: ArmarXCoreRobotStateComponent")
+armarx_set_target("RobotAPI Library: RobotStateComponent")
find_package(Eigen3 QUIET)
find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
-
armarx_build_if(Eigen3_FOUND "Eigen3 not available")
armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.cpp b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
index 653bf523d4624394dee8434a86efc07d4f69f824..fb26ce56f3166d15cba8a3565b53c3aa22f8ea82 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.cpp
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.cpp
@@ -82,42 +82,78 @@ void ForceTorqueObserver::onInitObserver()
void ForceTorqueObserver::onConnectObserver()
{
- assignProxy(robot, "RobotStateComponent");
+
debugDrawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
- visualizerTask = new PeriodicTask<ForceTorqueObserver>(this, &ForceTorqueObserver::visualizerFunction, 50, false, "visualizerFunction");
- localRobot = RemoteRobot::createLocalClone(robot);
- visualizerTask->start();
+ if (getProperty<bool>("VisualizeForce").getValue())
+ {
+ visualizerTask = new PeriodicTask<ForceTorqueObserver>(this, &ForceTorqueObserver::visualizerFunction, getProperty<int>("VisualizeForceUpdateFrequency").getValue(), false, "visualizerFunction");
+ visualizerTask->start();
+ }
}
void ForceTorqueObserver::visualizerFunction()
{
- RemoteRobot::synchronizeLocalClone(localRobot, robot);
- auto channels = getAvailableChannels(false);
- for(auto& channel : channels)
+ if (!robot)
+ {
+ try
+ {
+ assignProxy(robot, "RobotStateComponent");
+ }
+ catch (...)
+ {
+
+ }
+
+ if (!robot)
+ {
+ return;
+ }
+ }
+
+ try
{
- if(localRobot->hasRobotNode(channel.first))
+ if (!localRobot)
+ {
+ localRobot = RemoteRobot::createLocalClone(robot);
+ }
+ if (!localRobot)
{
- DatafieldRefPtr field = DatafieldRefPtr::dynamicCast(getForceDatafield(channel.first, Ice::Current()));
- FramedDirectionPtr value = field->getDataField()->get<FramedDirection>();
- auto force = value->toGlobal(localRobot);
-// ARMARX_INFO << deactivateSpam(5,channel.first) << "new force" << channel.first << " : " << force->toEigen();
-
- float forceMag = force->toEigen().norm()/100;
- forceMag = std::min(1.0f, forceMag);
- debugDrawer->setArrowVisu("Forces",
- "Force" + channel.first,
- new Vector3(localRobot->getRobotNode(channel.first)->getGlobalPose()),
- force,
- DrawColor{forceMag, 1.0f-forceMag, 0.0f, 0.5f},
- 50,
- 5);
+ return;
}
- else
+ float arrowLength = getProperty<float>("MaxForceArrowLength").getValue();
+ float forceFactor = getProperty<float>("ForceVisualizerFactor").getValue();
+ RemoteRobot::synchronizeLocalClone(localRobot, robot);
+ auto channels = getAvailableChannels(false);
+ for (auto& channel : channels)
{
-// ARMARX_INFO << deactivateSpam(5,channel.first) << "No node name " << channel.first;
+ if (localRobot->hasRobotNode(channel.first))
+ {
+ DatafieldRefPtr field = DatafieldRefPtr::dynamicCast(getForceDatafield(channel.first, Ice::Current()));
+ FramedDirectionPtr value = field->getDataField()->get<FramedDirection>();
+ auto force = value->toGlobal(localRobot);
+ // ARMARX_INFO << deactivateSpam(5,channel.first) << "new force" << channel.first << " : " << force->toEigen();
+
+ float forceMag = force->toEigen().norm() * forceFactor;
+ forceMag = std::min(1.0f, forceMag);
+ debugDrawer->setArrowVisu("Forces",
+ "Force" + channel.first,
+ new Vector3(localRobot->getRobotNode(channel.first)->getGlobalPose()),
+ force,
+ DrawColor {forceMag, 1.0f - forceMag, 0.0f, 0.5f},
+ std::max(arrowLength * forceMag, 10.f),
+ 3);
+ }
+ else
+ {
+ // ARMARX_INFO << deactivateSpam(5,channel.first) << "No node name " << channel.first;
+ }
}
}
+ catch (...)
+ {
+
+ }
}
@@ -132,13 +168,14 @@ void ForceTorqueObserver::offerValue(std::string nodeName, const std::string& ty
{
FramedDirectionPtr vec = FramedDirectionPtr::dynamicCast(value);
- if (!existsChannel(id->channelName))
- {
- offerChannel(id->channelName, type + " vectors on specific parts of the robot.");
- }
+
if (!existsDataField(id->channelName, id->datafieldName))
{
+ if (!existsChannel(id->channelName))
+ {
+ offerChannel(id->channelName, type + " vectors on specific parts of the robot.");
+ }
offerDataFieldWithDefault(id->channelName, id->datafieldName, Variant(value), "3D vector for " + type + " of " + nodeName);
}
else
@@ -272,6 +309,8 @@ DataFieldIdentifierPtr ForceTorqueObserver::getTorqueDatafieldId(const std::stri
void ForceTorqueObserver::onExitObserver()
{
- if(visualizerTask)
+ if (visualizerTask)
+ {
visualizerTask->stop();
+ }
}
diff --git a/source/RobotAPI/components/units/ForceTorqueObserver.h b/source/RobotAPI/components/units/ForceTorqueObserver.h
index ca2f27cc632d4be8d85676e4aba158accc60b929..8cf255be21512233a4d8caf8f3c836c5a4a4fd40 100644
--- a/source/RobotAPI/components/units/ForceTorqueObserver.h
+++ b/source/RobotAPI/components/units/ForceTorqueObserver.h
@@ -42,6 +42,10 @@ namespace armarx
ComponentPropertyDefinitions(prefix)
{
defineRequiredProperty<std::string>("ForceTorqueTopicName", "Name of the ForceTorqueUnit Topic");
+ defineOptionalProperty<bool>("VisualizeForce", true, "Visualize the force with an arrow in the debug drawer");
+ defineOptionalProperty<int>("VisualizeForceUpdateFrequency", 20, "Frequency with which the force is visualized");
+ defineOptionalProperty<float>("ForceVisualizerFactor", 0.01, "Factor by which the forces are scaled to fit into 0..1 (only for visulization) ");
+ defineOptionalProperty<float>("MaxForceArrowLength", 150, "Length of the force visu arrow in mm");
}
};
diff --git a/source/RobotAPI/components/units/HapticObserver.cpp b/source/RobotAPI/components/units/HapticObserver.cpp
index ed10cc0355424c71e974b67d624b754d92991d7d..2ad4e48737c6b673804c79d5b6e90b0fd8e02d8b 100644
--- a/source/RobotAPI/components/units/HapticObserver.cpp
+++ b/source/RobotAPI/components/units/HapticObserver.cpp
@@ -39,7 +39,6 @@ void HapticObserver::onInitObserver()
offerConditionCheck("larger", new ConditionCheckLarger());
offerConditionCheck("equals", new ConditionCheckEquals());
offerConditionCheck("smaller", new ConditionCheckSmaller());
-
}
void HapticObserver::onConnectObserver()
@@ -55,7 +54,14 @@ void HapticObserver::onExitObserver()
void HapticObserver::reportSensorValues(const std::string& device, const std::string& name, const armarx::MatrixFloatBasePtr& values, const armarx::TimestampBasePtr& timestamp, const Ice::Current&)
{
ScopedLock lock(dataMutex);
+
MatrixFloatPtr matrix = MatrixFloatPtr::dynamicCast(values);
+ if (matrix->cols == 0)
+ {
+ // Empty matrix received, silently ignore
+ return;
+ }
+
TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
Eigen::MatrixXf eigenMatrix = matrix->toEigen();
float max = eigenMatrix.maxCoeff();
diff --git a/source/RobotAPI/components/units/HeadIKUnit.cpp b/source/RobotAPI/components/units/HeadIKUnit.cpp
index c30bfdb063a7a01368047e2e17c68421148a1123..0ab897d7df74739d7cd7921a6cf0f81a1c25a8e2 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.cpp
+++ b/source/RobotAPI/components/units/HeadIKUnit.cpp
@@ -25,7 +25,7 @@ namespace armarx
ScopedLock lock(accessMutex);
usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
- usingProxy("RobotStateComponent");
+ usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
@@ -43,7 +43,8 @@ namespace armarx
drawer = getTopic<DebugDrawerInterfacePrx>("DebugDrawerUpdates");
kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
- robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+ robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
+
//remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
localRobot = RemoteRobot::createLocalClone(robotStateComponentPrx);
diff --git a/source/RobotAPI/components/units/HeadIKUnit.h b/source/RobotAPI/components/units/HeadIKUnit.h
index 0a1917fa38800f1e3034c73471098fcac6b7d5c5..6deff5a7add3ea52ae1bc09721a4e421c316df2d 100644
--- a/source/RobotAPI/components/units/HeadIKUnit.h
+++ b/source/RobotAPI/components/units/HeadIKUnit.h
@@ -49,6 +49,7 @@ namespace armarx
defineRequiredProperty<std::string>("KinematicUnitName", "Name of the KinematicUnit Proxy");
defineOptionalProperty<std::string>("RobotStateTopicName", "RobotState", "Name of the RobotComponent State topic.");
defineOptionalProperty<std::string>("HeadIKUnitTopicName", "HeadIKUnitTopic", "Name of the HeadIKUnit Topic");
+ defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
}
};
diff --git a/source/RobotAPI/components/units/PlatformUnitObserver.h b/source/RobotAPI/components/units/PlatformUnitObserver.h
index 5589e366c3d49e004e83fce534fe842b0c7117b4..9b4709a0d0fe816e06db3412780dfac819310536 100644
--- a/source/RobotAPI/components/units/PlatformUnitObserver.h
+++ b/source/RobotAPI/components/units/PlatformUnitObserver.h
@@ -20,8 +20,8 @@
* GNU General Public License
*/
-#ifndef _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
-#define _ARMARX_CORE_KINEMATIC_UNIT_OBSERVER_H
+#ifndef _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_H
+#define _ARMARX_CORE_PLATFORM_UNIT_OBSERVER_H
#include <ArmarXCore/core/system/ImportExport.h>
#include <ArmarXCore/core/Component.h>
diff --git a/source/RobotAPI/components/units/PlatformUnitSimulation.h b/source/RobotAPI/components/units/PlatformUnitSimulation.h
index 0e9bb1fc683262e4117b7fae14d1a83ce9ec4a87..b4afb8c37c35aa9dd29ad146631d96d64c155bc0 100644
--- a/source/RobotAPI/components/units/PlatformUnitSimulation.h
+++ b/source/RobotAPI/components/units/PlatformUnitSimulation.h
@@ -20,8 +20,8 @@
* GNU General Public License
*/
-#ifndef _ARMARX_COMPONENT_KINEMATIC_UNIT_SIMULATION_H
-#define _ARMARX_COMPONENT_KINEMATIC_UNIT_SIMULATION_H
+#ifndef _ARMARX_COMPONENT_PLATFORM_UNIT_SIMULATION_H
+#define _ARMARX_COMPONENT_PLATFORM_UNIT_SIMULATION_H
#include "PlatformUnit.h"
diff --git a/source/RobotAPI/components/units/TCPControlUnit.cpp b/source/RobotAPI/components/units/TCPControlUnit.cpp
index 7f7a2da918488dc013d014064ef57031f5d41f4f..0ab4790e9bf6e6227448594bb17da2ef7f4e0e2d 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.cpp
+++ b/source/RobotAPI/components/units/TCPControlUnit.cpp
@@ -54,7 +54,7 @@ namespace armarx
{
topicName = getName() + "State";
usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
- usingProxy("RobotStateComponent");
+ usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
usingProxy("DebugObserver");
offeringTopic(topicName);
usingTopic(getProperty<std::string>("RobotStateTopicName").getValue());
@@ -70,7 +70,8 @@ namespace armarx
debugObs = getProxy<DebugObserverInterfacePrx>("DebugObserver");
kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(getProperty<std::string>("KinematicUnitName").getValue());
- robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>("RobotStateComponent");
+ robotStateComponentPrx = getProxy<RobotStateComponentInterfacePrx>(getProperty<std::string>("RobotStateComponentName").getValue());
+
//remoteRobotPrx = robotStateComponentPrx->getSynchronizedRobot();
@@ -180,7 +181,7 @@ namespace armarx
void TCPControlUnit::setTCPVelocity(const std::string& nodeSetName, const std::string& tcpName, const FramedDirectionBasePtr& translationVelocity, const FramedDirectionBasePtr& orientationVelocityRPY, const Ice::Current& c)
{
- if(!isRequested())
+ if (!isRequested())
{
ARMARX_WARNING << "Implicitly requesting TCPControlUnit! Please call request before setting TCPVelocities!";
request();
diff --git a/source/RobotAPI/components/units/TCPControlUnit.h b/source/RobotAPI/components/units/TCPControlUnit.h
index efb111ea2271f83edb524471f36a520aefa31f51..7611446f35eb6ab1057d8268aebece3cdcf4f75f 100644
--- a/source/RobotAPI/components/units/TCPControlUnit.h
+++ b/source/RobotAPI/components/units/TCPControlUnit.h
@@ -52,6 +52,7 @@ namespace armarx
defineOptionalProperty<int>("CycleTime", 30, "Cycle time of the tcp control in ms");
defineOptionalProperty<float>("MaximumCommandDelay", 20000, "Delay after which the TCP Control unit releases itself if no new velocity have been set.");
defineOptionalProperty<std::string>("TCPsToReport", "", "comma seperated list of nodesets' endeffectors, which poses and velocities that should be reported. * for all, empty for none");
+ defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
}
diff --git a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
index 76c0d573ccc91d4d850e96476ec4604b05fb1d31..d24da08e71f8bf8eb529bb2052502e091246accc 100644
--- a/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
+++ b/source/RobotAPI/gui-plugins/HapticUnitPlugin/MatrixDatafieldDisplayWidget.h
@@ -1,5 +1,5 @@
-#ifndef MATRIXDISPLAYWIDGET_H
-#define MATRIXDISPLAYWIDGET_H
+#ifndef MATRIXDATAFIELDDISPLAYWIDGET_H
+#define MATRIXDATAFIELDDISPLAYWIDGET_H
#include <QWidget>
#include <QMutex>
diff --git a/source/RobotAPI/interface/speech/SpeechInterface.ice b/source/RobotAPI/interface/speech/SpeechInterface.ice
index cbdba5932b0eefdbd184479b02640a191cf6a8e4..ea06c3caa6885958d266e07d53c624a2cfe741f0 100644
--- a/source/RobotAPI/interface/speech/SpeechInterface.ice
+++ b/source/RobotAPI/interface/speech/SpeechInterface.ice
@@ -81,7 +81,9 @@ module armarx
* \param text Text.
* \param string vector params.
*/
- //void reportTextWithParams(string text,Ice::StringSeq params);
+
+ void reportTextWithParams(string text,Ice::StringSeq params);
+
};
enum FeedbackType
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
index 7713be5cda5ee55e4f0a6153efe54d3f66116950..6e4988445a86ee0a2e42efc1ddcc4da2600d3609 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.cpp
@@ -41,7 +41,7 @@ namespace armarx
kinematicUnitObserverName = getProperty<std::string>("KinematicUnitObserverName").getValue();
usingProxy(getProperty<std::string>("KinematicUnitName").getValue());
- usingProxy("RobotStateComponent");
+ usingProxy(getProperty<std::string>("RobotStateComponentName").getValue());
usingProxy(kinematicUnitObserverName);
if (!getProperty<std::string>("HandUnits").getValue().empty())
@@ -74,7 +74,7 @@ namespace armarx
ARMARX_LOG << eINFO << "Starting RobotStatechartContext" << flush;
// retrieve proxies
- std::string rbStateName = "RobotStateComponent";
+ std::string rbStateName = getProperty<std::string>("RobotStateComponentName").getValue();
robotStateComponent = getProxy<RobotStateComponentInterfacePrx>(rbStateName);
std::string kinUnitName = getProperty<std::string>("KinematicUnitName").getValue();
kinematicUnitPrx = getProxy<KinematicUnitInterfacePrx>(kinUnitName);
diff --git a/source/RobotAPI/libraries/core/RobotStatechartContext.h b/source/RobotAPI/libraries/core/RobotStatechartContext.h
index 81cbdf2529b1d6ee3c5ef7e3c5acb0240c855c38..369ca866585f90f75be4b603df7d148b197cf6d2 100644
--- a/source/RobotAPI/libraries/core/RobotStatechartContext.h
+++ b/source/RobotAPI/libraries/core/RobotStatechartContext.h
@@ -55,6 +55,8 @@ namespace armarx
defineOptionalProperty<std::string>("HandUnits", "", "Name of the comma-seperated hand units that should be used. Unitname for left hand should be LeftHandUnit, and for right hand RightHandUnit");
defineOptionalProperty<std::string>("HeadIKUnitName", "", "Name of the head unit that should be used.");
defineOptionalProperty<std::string>("HeadIKKinematicChainName", "", "Name of the kinematic chain that should be used for head IK.");
+ defineOptionalProperty<std::string>("RobotStateComponentName", "RobotStateComponent", "Name of the RobotStateComponent that should be used");
+
}
};