MMMPlayer: made nodesetname configurable

source/RobotAPI/components/MMMPlayer/MMMPlayer.cpp

@@ -45,7 +45,7 @@ void MMMPlayer::onInitComponent()
     desiredFPS = 1;
     usePIDController = getProperty<bool>("UsePIDController").getValue();
     if(usePIDController)
-        usingTopic("RobotState");
+        usingTopic(getProperty<std::string>("RobotNodeSetName").getValue());
 }
 
 
@@ -137,7 +137,7 @@ void MMMPlayer::run()
     if(currentFrame +1 < (int)motion->getNumFrames())
         nextFrame = motion->getMotionFrame(currentFrame+1);
     targetPositionValues.clear();
-    ARMARX_INFO << deactivateSpam(1) << "frame: " << currentFrame << " iv: " << interpolationValue;
+    ARMARX_INFO << deactivateSpam(1) << "frame: " << currentFrame << " " << VAROUT(interpolationValue);
     StringVariantBaseMap debugTargetValues;
     ARMARX_CHECK_EXPRESSION((int)jointNames.size() == frame->joint.rows());
     for (size_t i = 0; i < jointNames.size(); ++i) {

source/RobotAPI/components/MMMPlayer/MMMPlayer.h

@@ -74,6 +74,8 @@ namespace armarx
             defineOptionalProperty<float>("Ki", 0.00001f, "Integral gain value of PID Controller");
             defineOptionalProperty<float>("Kd", 1.0f, "Differential gain value of PID Controller");
             defineOptionalProperty<float>("absMaximumVelocity", 120.0f, "The PID will never set a velocity above this threshold in degree");
+            defineOptionalProperty<std::string>("RobotNodeSetName", "RobotState", "The name of the robot node set to be used (only need for PIDController mode)");
+
         }
     };