From 75d256484683dee9fd42351c49283cf6833aff2a Mon Sep 17 00:00:00 2001
From: Fabian Peller-Konrad <fabian.peller-konrad@kit.edu>
Date: Tue, 16 Aug 2022 11:01:14 +0200
Subject: [PATCH] renamed entity name for location updates in
legacytobotsatteadapater for armar3
---
.../LegacyRobotStateMemoryAdapter.cpp | 11 +++++------
.../LegacyRobotStateMemoryAdapter.h | 6 ++++--
2 files changed, 9 insertions(+), 8 deletions(-)
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
index aa6d1de0d..b82eefe89 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.cpp
@@ -27,7 +27,6 @@
#include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
#include <RobotAPI/libraries/armem_robot/aron/RobotDescription.aron.generated.h>
-
namespace armarx::armem
{
@@ -115,9 +114,9 @@ namespace armarx::armem
{
armem::arondto::Transform transform;
transform.header.agent = "Armar3";
- transform.header.parentFrame = "Odom";
- transform.header.frame = "root";
- transform.header.timestamp = IceUtil::Time::microSeconds(_timestampUpdateFirstModifiedInUs);
+ transform.header.parentFrame = OdometryFrame;
+ transform.header.frame = armarx::armem::robot_state::constants::robotRootNodeName;
+ transform.header.timestamp = armem::Time::microSeconds(_timestampUpdateFirstModifiedInUs);
Eigen::Isometry3f tf = Eigen::Isometry3f::Identity();
tf.translation().x() = (update.platformPose.x);
@@ -255,8 +254,8 @@ namespace armarx::armem
auto& entityUpdate = c.add();
entityUpdate.confidence = 1.0;
- entityUpdate.entityID.memoryName = "RobotState";
- entityUpdate.entityID.coreSegmentName = "Description";
+ entityUpdate.entityID.memoryName = armarx::armem::robot_state::constants::memoryName;
+ entityUpdate.entityID.coreSegmentName = armarx::armem::robot_state::constants::descriptionCoreSegment;
entityUpdate.entityID.providerSegmentName = "Armar3";
entityUpdate.entityID.entityName = "Armar3";
diff --git a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
index 50f2c1973..9680d8c27 100644
--- a/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
+++ b/source/RobotAPI/components/armem/addon/LegacyRobotStateMemoryAdapter/LegacyRobotStateMemoryAdapter.h
@@ -36,6 +36,8 @@
#include <RobotAPI/interface/armem/mns/MemoryNameSystemInterface.h>
#include <RobotAPI/libraries/armem/client/MemoryNameSystem.h>
+#include <RobotAPI/libraries/armem_robot_state/client/common/constants.h>
+#include <RobotAPI/libraries/core/FramedPose.h>
namespace armarx::armem
{
@@ -117,8 +119,8 @@ namespace armarx::armem
armarx::PeriodicTask<LegacyRobotStateMemoryAdapter>::pointer_type runningTask;
// Memory
- MemoryID propEntityID = MemoryID("RobotState", "Proprioception", "Armar3", "Armar3");
- MemoryID locEntityID = MemoryID("RobotState", "Localization", "Armar3", "Odom,root");
+ MemoryID propEntityID = MemoryID(armarx::armem::robot_state::constants::memoryName, armarx::armem::robot_state::constants::proprioceptionCoreSegment, "Armar3", "Armar3");
+ MemoryID locEntityID = MemoryID(armarx::armem::robot_state::constants::memoryName, armarx::armem::robot_state::constants::localizationCoreSegment, "Armar3", (OdometryFrame + "," + armarx::armem::robot_state::constants::robotRootNodeName));
armem::client::Writer memoryWriter;
--
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