Merge branch 'master' of https://i61wiki.itec.uka.de/git/robot-api

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -59,7 +59,7 @@ namespace armarx
     void HeadIKUnit::onDisconnectComponent()
     {
         release();
-        ScopedLock lock(accessMutex);
+        //ScopedLock lock(accessMutex);
 
 
         if (execTask) execTask->stop();
@@ -146,10 +146,20 @@ namespace armarx
     {
         ScopedLock lock(accessMutex);
 
-        ARMARX_IMPORTANT << "Releasing HeadIKUnit";
+        ARMARX_INFO << "Releasing HeadIKUnit";
         requested = false;
-        kinematicUnitPrx->stop();
-        ARMARX_IMPORTANT << "Released HeadIKUnit";
+
+        // why do we stop the kin unit?
+        /*try
+        {
+            if (kinematicUnitPrx)
+                kinematicUnitPrx->stop();
+        } catch (...)
+        {
+            ARMARX_IMPORTANT << "Released HeadIKUnit failed";
+        }*/
+
+        ARMARX_INFO << "Released HeadIKUnit";
     }
 
 
@@ -201,7 +211,13 @@ namespace armarx
                         targetJointAngles[kinematicChain->getNode(i)->getName()] = kinematicChain->getNode(i)->getJointValue();
                     }
                 }
-                kinematicUnitPrx->setJointAngles(targetJointAngles);
+                try
+                {
+                    kinematicUnitPrx->setJointAngles(targetJointAngles);
+                } catch (...)
+                {
+                    ARMARX_IMPORTANT << "setJointAngles failed";
+                }
             }
         }
     }