diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index 423ec3285d801635b8d00309258cebcc9683a053..408c06b2dffd5bbd0eb9e31b583e4a0640b4bd37 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -7,3 +7,5 @@ add_subdirectory(RobotViewerPlugin)
+
+add_subdirectory(DebugDrawerViewer)
\ No newline at end of file
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt b/source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5842e4fbd8f0fc57c02dbd315864c9c20db1c9bd
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/CMakeLists.txt
@@ -0,0 +1,40 @@
+
+armarx_set_target("DebugDrawerViewerGuiPlugin")
+
+find_package(Qt4 COMPONENTS QtCore QtGui QtDesigner)
+
+armarx_build_if(QT_FOUND "Qt not available")
+# ArmarXGui gets included through depends_on_armarx_package(ArmarXGui "OPTIONAL")
+# in the toplevel CMakeLists.txt
+armarx_build_if(ArmarXGui_FOUND "ArmarXGui not available")
+
+
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+if(QT_FOUND)
+ include(${QT_USE_FILE})
+endif()
+
+set(SOURCES
+./DebugDrawerViewerGuiPlugin.cpp ./DebugDrawerViewerWidgetController.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.cpp @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.cpp
+)
+
+set(HEADERS
+./DebugDrawerViewerGuiPlugin.h ./DebugDrawerViewerWidgetController.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.h @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.h
+)
+
+set(GUI_MOC_HDRS ${HEADERS})
+
+set(GUI_UIS
+./DebugDrawerViewerWidget.ui
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@Widget.ui
+)
+
+# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
+set(COMPONENT_LIBS DebugDrawer ${QT_LIBRARIES})
+
+if(ArmarXGui_FOUND)
+ armarx_gui_library(DebugDrawerViewerGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+endif()
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.cpp b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..741dd98a26bc14b24e45ae236c1d82d858357a63
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.cpp
@@ -0,0 +1,34 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::DebugDrawerViewerGuiPlugin
+ * \author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * \date 2016
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "DebugDrawerViewerGuiPlugin.h"
+
+#include "DebugDrawerViewerWidgetController.h"
+
+using namespace armarx;
+
+DebugDrawerViewerGuiPlugin::DebugDrawerViewerGuiPlugin()
+{
+ addWidget < DebugDrawerViewerWidgetController > ();
+}
+
+Q_EXPORT_PLUGIN2(armarx_gui_DebugDrawerViewerGuiPlugin, DebugDrawerViewerGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..14d7959a43ad66ecac5223c5aa8b5bd6021a6ae8
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerGuiPlugin.h
@@ -0,0 +1,51 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::DebugDrawerViewer
+ * \author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * \date 2016
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
+#define _ARMARX_RobotAPI_DebugDrawerViewer_GuiPlugin_H
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+namespace armarx
+{
+ /**
+ * \class DebugDrawerViewerGuiPlugin
+ * \ingroup ArmarXGuiPlugins
+ * \brief DebugDrawerViewerGuiPlugin brief description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT DebugDrawerViewerGuiPlugin:
+ public armarx::ArmarXGuiPlugin
+ {
+ public:
+ /**
+ * All widgets exposed by this plugin are added in the constructor
+ * via calls to addWidget()
+ */
+ DebugDrawerViewerGuiPlugin();
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidget.ui b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidget.ui
new file mode 100644
index 0000000000000000000000000000000000000000..9888ab71f5d6e6b6bdfdaa80a74c4f609e37e6cd
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidget.ui
@@ -0,0 +1,28 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DebugDrawerViewerWidget</class>
+ <widget class="QWidget" name="DebugDrawerViewerWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>400</width>
+ <height>300</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>DebugDrawerViewerWidget</string>
+ </property>
+ <layout class="QGridLayout" name="gridLayout">
+ <item row="0" column="0">
+ <widget class="QPushButton" name="btnClearAll">
+ <property name="text">
+ <string>Remove All Visualizations</string>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..df7c61710429535666e6a630e38125b830829c57
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp
@@ -0,0 +1,116 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * \package RobotAPI::gui-plugins::DebugDrawerViewerWidgetController
+ * \author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * \date 2016
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "DebugDrawerViewerWidgetController.h"
+#include <ArmarXCore/core/ArmarXManager.h>
+#include <string>
+
+using namespace armarx;
+
+DebugDrawerViewerWidgetController::DebugDrawerViewerWidgetController()
+{
+ rootVisu = NULL;
+ widget.setupUi(getWidget());
+
+}
+
+
+DebugDrawerViewerWidgetController::~DebugDrawerViewerWidgetController()
+{
+
+}
+
+
+void DebugDrawerViewerWidgetController::loadSettings(QSettings* settings)
+{
+
+}
+
+void DebugDrawerViewerWidgetController::saveSettings(QSettings* settings)
+{
+
+}
+
+
+void DebugDrawerViewerWidgetController::onInitComponent()
+{
+ rootVisu = new SoSeparator;
+ rootVisu->ref();
+
+
+ enableMainWidgetAsync(false);
+ connect(widget.btnClearAll, SIGNAL(clicked()), this, SLOT(on_btnClearAll_clicked()), Qt::UniqueConnection);
+}
+
+
+void DebugDrawerViewerWidgetController::onConnectComponent()
+{
+ // create the debugdrawer component
+ std::string debugDrawerComponentName = "GUIDebugDrawer_" + getName();
+ ARMARX_INFO << "Creating component " << debugDrawerComponentName;
+ debugDrawer = Component::create<DebugDrawerComponent>(properties, debugDrawerComponentName);
+
+ if (mutex3D)
+ {
+ //ARMARX_IMPORTANT << "mutex3d:" << mutex3D.get();
+ debugDrawer->setMutex(mutex3D);
+ }
+ else
+ {
+ ARMARX_ERROR << " No 3d mutex available...";
+ }
+
+ ArmarXManagerPtr m = getArmarXManager();
+ m->addObject(debugDrawer, false);
+
+ {
+ boost::recursive_mutex::scoped_lock lock(*mutex3D);
+ rootVisu->addChild(debugDrawer->getVisualization());
+ }
+ enableMainWidgetAsync(true);
+}
+
+
+SoNode *DebugDrawerViewerWidgetController::getScene()
+{
+ return rootVisu;
+}
+
+
+void armarx::DebugDrawerViewerWidgetController::onExitComponent()
+{
+ if (rootVisu)
+ {
+ rootVisu->removeAllChildren();
+ rootVisu->unref();
+ rootVisu = NULL;
+ }
+}
+
+void armarx::DebugDrawerViewerWidgetController::on_btnClearAll_clicked()
+{
+ ARMARX_INFO << "Clearing visu";
+ if(debugDrawer)
+ {
+ debugDrawer->clearAll();
+ }
+}
diff --git a/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
new file mode 100644
index 0000000000000000000000000000000000000000..a3ce4c6d809702e0f63b8d6daa60d2341d33e5ab
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/DebugDrawerViewer/DebugDrawerViewerWidgetController.h
@@ -0,0 +1,127 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * ArmarX is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License version 2 as
+ * published by the Free Software Foundation.
+ *
+ * ArmarX is distributed in the hope that it will be useful, but
+ * WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program. If not, see <http://www.gnu.org/licenses/>.
+ *
+ * @package RobotAPI::gui-plugins::DebugDrawerViewerWidgetController
+ * @author Mirko Waechter ( mirko dot waechter at kit dot edu )
+ * @date 2016
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
+#define _ARMARX_RobotAPI_DebugDrawerViewer_WidgetController_H
+
+#include "ui_DebugDrawerViewerWidget.h"
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+#include <RobotAPI/components/DebugDrawer/DebugDrawerComponent.h>
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+
+namespace armarx
+{
+ /**
+ \page ArmarXGui-GuiPlugins-DebugDrawerViewer DebugDrawerViewer
+ \brief The DebugDrawerViewer listens on the DebugDrawer topic and visualizes all the data coming in.
+ This GUI only display the DebugDrawer content and nothing else.
+ The content is shown in the 3D Viewer Widget.
+
+ API Documentation \ref DebugDrawerViewerWidgetController
+
+ \see DebugDrawerViewerGuiPlugin
+ */
+
+ /**
+ * \class DebugDrawerViewerWidgetController
+ * \brief DebugDrawerViewerWidgetController
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ DebugDrawerViewerWidgetController:
+ public armarx::ArmarXComponentWidgetController
+ {
+ Q_OBJECT
+
+ public:
+ /**
+ * Controller Constructor
+ */
+ explicit DebugDrawerViewerWidgetController();
+
+ /**
+ * Controller destructor
+ */
+ virtual ~DebugDrawerViewerWidgetController();
+
+ /**
+ * @see ArmarXWidgetController::loadSettings()
+ */
+ virtual void loadSettings(QSettings* settings);
+
+ /**
+ * @see ArmarXWidgetController::saveSettings()
+ */
+ virtual void saveSettings(QSettings* settings);
+
+ /**
+ * Returns the Widget name displayed in the ArmarXGui to create an
+ * instance of this class.
+ */
+ virtual QString getWidgetName() const
+ {
+ return "DebugDrawerViewer";
+ }
+
+ /**
+ * \see armarx::Component::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * \see armarx::Component::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ void onExitComponent();
+
+ public slots:
+ /* QT slot declarations */
+
+ signals:
+ /* QT signal declarations */
+
+ private:
+ /**
+ * Widget Form
+ */
+ Ui::DebugDrawerViewerWidget widget;
+ armarx::DebugDrawerComponentPtr debugDrawer;
+ SoSeparator* rootVisu;
+
+ // ArmarXWidgetController interface
+ public:
+ SoNode *getScene();
+
+
+
+ private slots:
+ void on_btnClearAll_clicked();
+ };
+}
+
+#endif