From 949fea305dd6fe5ee8e536a9fce6bffec67eb93f Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Thu, 2 Sep 2021 15:48:38 +0200
Subject: [PATCH] armem: articulated object reader and writer: provider segment
properties should be independent
---
.../armem_objects/client/articulated_object/Reader.cpp | 2 +-
.../armem_objects/client/articulated_object/Writer.cpp | 2 +-
.../libraries/armem_objects/client/articulated_object/utils.cpp | 1 +
.../armem_robot_state/server/proprioception/Segment.cpp | 1 +
4 files changed, 4 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
index 27d1cd851..029a07aed 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Reader.cpp
@@ -44,7 +44,7 @@ namespace armarx::armem::articulated_object
def->optional(properties.coreClassSegmentName,
prefix + "CoreSegment",
"Name of the memory core segment to use for object classes.");
- def->optional(properties.providerName, prefix + "ProviderName");
+ def->optional(properties.providerName, prefix + "read.ProviderName");
}
void Reader::connect()
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
index d1cb1e008..ddb026585 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/Writer.cpp
@@ -46,7 +46,7 @@ namespace armarx::armem::articulated_object
"Name of the memory core segment to use for object classes.");
ARMARX_IMPORTANT << "Writer: add property '" << prefix << "ProviderName'";
- def->required(properties.providerName, prefix + "ProviderName", "Name of this provider");
+ def->required(properties.providerName, prefix + "write.ProviderName", "Name of this provider");
}
void Writer::connect()
diff --git a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.cpp b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.cpp
index 7d311d3f2..11c389be6 100644
--- a/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.cpp
+++ b/source/RobotAPI/libraries/armem_objects/client/articulated_object/utils.cpp
@@ -33,4 +33,5 @@ namespace armarx::armem::articulated_object
return robotDescription;
}
+
} // namespace armarx::armem::articulated_object
diff --git a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
index 02a98ef64..6321dd355 100644
--- a/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
+++ b/source/RobotAPI/libraries/armem_robot_state/server/proprioception/Segment.cpp
@@ -28,6 +28,7 @@ namespace armarx::armem::server::robot_state::proprioception
this->robotUnit = robotUnitPrx;
std::string providerSegmentName = "Robot";
+
KinematicUnitInterfacePrx kinematicUnit = robotUnit->getKinematicUnit();
if (kinematicUnit)
{
--
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