Merge remote-tracking branch 'origin/master' into feature/skillMemoryGUI

# Conflicts:
#	source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp

scenarios/SkillProviderTest/config/ArVizStorage.cfg

@@ -68,6 +68,15 @@
 # ArmarX.ArVizStorage.TopicName = ArVizTopic
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache

scenarios/SkillProviderTest/config/DebugObserver.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache

scenarios/SkillProviderTest/config/MemoryNameSystem.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache

scenarios/SkillProviderTest/config/RemoteGuiProviderApp.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache

scenarios/SkillProviderTest/config/SkillProviderExample.cfg

@@ -18,6 +18,15 @@
 # ArmarX.ApplicationName = ""
 
 
+# ArmarX.AutodiscoverPackages:  If enabled, will discover all ArmarX packages based on the environment variables. Otherwise, the `DefaultPackages` and `AdditionalPackages` properties are used.
+#  Attributes:
+#  - Default:            true
+#  - Case sensitivity:   yes
+#  - Required:           no
+#  - Possible values: {0, 1, false, no, true, yes}
+# ArmarX.AutodiscoverPackages = true
+
+
 # ArmarX.CachePath:  Path for cache files. If relative path AND env. variable ARMARX_CONFIG_DIR is set, the cache path will be made relative to ARMARX_CONFIG_DIR. Otherwise if relative it will be relative to the default ArmarX config dir (${ARMARX_WORKSPACE}/armarx_config)
 #  Attributes:
 #  - Default:            mongo/.cache

source/RobotAPI/components/CMakeLists.txt

@@ -27,6 +27,7 @@ add_subdirectory(NaturalIKTest)
 add_subdirectory(ObjectPoseClientExample)
 add_subdirectory(ObjectPoseProviderExample)
 add_subdirectory(RobotHealth)
+add_subdirectory(RobotDefinition)
 add_subdirectory(RobotNameService)
 add_subdirectory(RobotState)
 add_subdirectory(RobotToArViz)

source/RobotAPI/components/RobotDefinition/CMakeLists.txt

+armarx_component_set_name("RobotDefinition")
+
+set(COMPONENT_LIBS
+    ArmarXCore
+    ArmarXCoreInterfaces  # for DebugObserverInterface
+    ArmarXGuiComponentPlugins
+    RobotAPICore
+    RobotAPIInterfaces
+    RobotAPISkills
+    armem
+    robot_name_service_core
+    robot_name_service_client
+)
+
+set(SOURCES
+    RobotDefinition.cpp
+)
+
+set(HEADERS
+    RobotDefinition.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+#generate the application
+armarx_generate_and_add_component_executable(COMPONENT_NAMESPACE "armarx")

source/RobotAPI/components/RobotDefinition/RobotDefinition.cpp

+/*
+ * 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::ArmarXObjects::RobotNameService
+ * @author     [Author Name] ( [Author Email] )
+ * @date       2018
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include "RobotDefinition.h"
+
+namespace armarx
+{
+    void
+    RobotDefinition::onInitComponent()
+    {
+    }
+
+    void
+    RobotDefinition::onConnectComponent()
+    {
+    }
+
+    void
+    RobotDefinition::onDisconnectComponent()
+    {
+    }
+
+    void
+    RobotDefinition::onExitComponent()
+    {
+    }
+
+    armarx::PropertyDefinitionsPtr
+    RobotDefinition::createPropertyDefinitions()
+    {
+        armarx::PropertyDefinitionsPtr defs =
+            new ComponentPropertyDefinitions(getConfigIdentifier());
+
+        return defs;
+    }
+} // namespace armarx

source/RobotAPI/components/RobotDefinition/RobotDefinition.h

+/*
+ * 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::ArmarXObjects::RobotNameService
+ * @author     [Author Name] ( [Author Email] )
+ * @date       2018
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#pragma once
+
+#include <map>
+#include <mutex>
+#include <string>
+
+#include <ArmarXCore/core/Component.h>
+
+#include <RobotAPI/interface/robot_name_service/RobotNameServiceInterface.h>
+#include <RobotAPI/libraries/robot_name_service/client/Plugin.h>
+#include <RobotAPI/libraries/robot_name_service/core/Robot.h>
+
+namespace armarx
+{
+    /**
+     * @defgroup Component-RobotNameService RobotNameService
+     * @ingroup RobotAPI-Components
+     * A description of the component RobotNameService.
+     *
+     * @class RobotNameService
+     * @ingroup Component-RobotNameService
+     * @brief Brief description of class RobotNameService.
+     *
+     * Detailed description of class RobotNameService.
+     */
+    class RobotDefinition :
+        virtual public armarx::Component,
+        virtual public armarx::RobotNameServiceComponentPluginUser
+    {
+    public:
+        /**
+         * @see armarx::ManagedIceObject::getDefaultName()
+         */
+        std::string
+        getDefaultName() const override
+        {
+            return "RobotDefinition";
+        }
+
+    protected:
+        /**
+         * @see armarx::ManagedIceObject::onInitComponent()
+         */
+        void onInitComponent() override;
+
+        /**
+         * @see armarx::ManagedIceObject::onConnectComponent()
+         */
+        void onConnectComponent() override;
+
+        /**
+         * @see armarx::ManagedIceObject::onDisconnectComponent()
+         */
+        void onDisconnectComponent() override;
+
+        /**
+         * @see armarx::ManagedIceObject::onExitComponent()
+         */
+        void onExitComponent() override;
+
+        /**
+         * @see PropertyUser::createPropertyDefinitions()
+         */
+        armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
+    };
+} // namespace armarx

source/RobotAPI/components/RobotDefinition/test/CMakeLists.txt

+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore RobotNameService)
+ 
+armarx_add_test(RobotNameServiceTest RobotNameServiceTest.cpp "${LIBS}")
\ No newline at end of file

source/RobotAPI/interface/components/RobotNameServiceInterface.ice → source/RobotAPI/components/RobotDefinition/test/RobotNameServiceTest.cpp

@@ -13,19 +13,25 @@
  * You should have received a copy of the GNU General Public License
  * along with this program. If not, see <http://www.gnu.org/licenses/>.
  *
- * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @package    RobotAPI::ArmarXObjects::RobotNameService
+ * @author     [Author Name] ( [Author Email] )
  * @date       2018
  * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
  *             GNU General Public License
  */
 
-#include <RobotAPI/interface/observers/KinematicUnitObserverInterface.ice>
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::RobotNameService
 
-#pragma once
+#define ARMARX_BOOST_TEST
 
-module armarx
+#include <RobotAPI/Test.h>
+#include <RobotAPI/components/RobotNameService/RobotNameService.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
 {
-    interface RobotNameServiceInterface
-    {
-    };
-};
+    armarx::RobotNameService instance;
+
+    BOOST_CHECK_EQUAL(true, true);
+}

source/RobotAPI/components/RobotNameService/CMakeLists.txt

 armarx_component_set_name("RobotNameService")
-set(COMPONENT_LIBS ArmarXCore)
-set(SOURCES RobotNameService.cpp)
-set(HEADERS RobotNameService.h)
-armarx_add_component("${SOURCES}" "${HEADERS}")
 
-# add unit tests
-add_subdirectory(test)
+set(COMPONENT_LIBS
+    ArmarXCore
+    ArmarXCoreInterfaces  # for DebugObserverInterface
+    ArmarXGuiComponentPlugins
+    RobotAPICore
+    RobotAPIInterfaces
+    RobotAPISkills
+    armem
+    robot_name_service_core
+    robot_name_service_server
+)
+
+set(SOURCES
+    RobotNameService.cpp
+)
+
+set(HEADERS
+    RobotNameService.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
 
-armarx_generate_and_add_component_executable(APPLICATION_APP_SUFFIX)
+#generate the application
+armarx_generate_and_add_component_executable(COMPONENT_NAMESPACE "armarx")

source/RobotAPI/components/RobotNameService/RobotNameService.cpp

@@ -22,35 +22,76 @@
 
 #include "RobotNameService.h"
 
-
 namespace armarx
 {
-    void RobotNameService::onInitComponent()
+    void
+    RobotNameService::onInitComponent()
     {
-
     }
 
-
-    void RobotNameService::onConnectComponent()
+    void
+    RobotNameService::onConnectComponent()
     {
+    }
 
+    void
+    RobotNameService::onDisconnectComponent()
+    {
     }
 
+    void
+    RobotNameService::onExitComponent()
+    {
+    }
 
-    void RobotNameService::onDisconnectComponent()
+    armarx::PropertyDefinitionsPtr
+    RobotNameService::createPropertyDefinitions()
     {
+        armarx::PropertyDefinitionsPtr defs =
+            new ComponentPropertyDefinitions(getConfigIdentifier());
 
+        return defs;
     }
 
+    bool
+    RobotNameService::registerRobot(const robot_name_service::dto::Robot& robot,
+                                    const Ice::Current& current)
+    {
+        std::scoped_lock l(robotsMutex);
+        ARMARX_INFO << "Register a new robot with name '" << robot.name << "' in RNS";
+
+        if (auto it = robots.find(robot.name); it != robots.end())
+        {
+            ARMARX_ERROR << "The robot with name '" << robot.name
+                         << "' is already registered. Ignoring it.";
+            return false;
+        }
+
+        robots[robot.name].fromIce(robot);
+        return true;
+    }
 
-    void RobotNameService::onExitComponent()
+    void
+    RobotNameService::unregisterRobot(const std::string& name, const Ice::Current& current)
     {
+        std::scoped_lock l(robotsMutex);
 
+        if (auto it = robots.find(name); it != robots.end())
+        {
+            robots.erase(it);
+        }
     }
 
-    armarx::PropertyDefinitionsPtr RobotNameService::createPropertyDefinitions()
+    IceUtil::Optional<robot_name_service::dto::Robot>
+    RobotNameService::getRobot(const std::string& name, const Ice::Current& current)
     {
-        return armarx::PropertyDefinitionsPtr(new RobotNameServicePropertyDefinitions(
-                getConfigIdentifier()));
+        std::scoped_lock l(robotsMutex);
+
+        if (auto it = robots.find(name); it == robots.end())
+        {
+            return {};
+        }
+
+        return robots[name].toIce();
     }
-}
+} // namespace armarx

source/RobotAPI/components/RobotNameService/RobotNameService.h

@@ -22,27 +22,17 @@
 
 #pragma once
 
+#include <map>
+#include <mutex>
+#include <string>
 
 #include <ArmarXCore/core/Component.h>
 
+#include <RobotAPI/interface/robot_name_service/RobotNameServiceInterface.h>
+#include <RobotAPI/libraries/robot_name_service/core/Robot.h>
+
 namespace armarx
 {
-    /**
-     * @class RobotNameServicePropertyDefinitions
-     * @brief
-     */
-    class RobotNameServicePropertyDefinitions:
-        public armarx::ComponentPropertyDefinitions
-    {
-    public:
-        RobotNameServicePropertyDefinitions(std::string prefix):
-            armarx::ComponentPropertyDefinitions(prefix)
-        {
-            //defineRequiredProperty<std::string>("PropertyName", "Description");
-            //defineOptionalProperty<std::string>("PropertyName", "DefaultValue", "Description");
-        }
-    };
-
     /**
      * @defgroup Component-RobotNameService RobotNameService
      * @ingroup RobotAPI-Components
@@ -55,13 +45,15 @@ namespace armarx
      * Detailed description of class RobotNameService.
      */
     class RobotNameService :
-        virtual public armarx::Component
+        virtual public armarx::Component,
+        virtual public armarx::robot_name_service::dti::RobotNameServiceInterface
     {
     public:
         /**
          * @see armarx::ManagedIceObject::getDefaultName()
          */
-        std::string getDefaultName() const override
+        std::string
+        getDefaultName() const override
         {
             return "RobotNameService";
         }
@@ -91,6 +83,18 @@ namespace armarx
          * @see PropertyUser::createPropertyDefinitions()
          */
         armarx::PropertyDefinitionsPtr createPropertyDefinitions() override;
-    };
-}
 
+
+        // RobotNameServiceInterface interface
+    public:
+        bool registerRobot(const robot_name_service::dto::Robot& robot,
+                           const Ice::Current& current) override;
+        void unregisterRobot(const std::string& name, const Ice::Current& current) override;
+        IceUtil::Optional<robot_name_service::dto::Robot>
+        getRobot(const std::string& name, const Ice::Current& current) override;
+
+    private:
+        mutable std::mutex robotsMutex;
+        std::map<std::string, robot_name_service::core::Robot> robots;
+    };
+} // namespace armarx

source/RobotAPI/gui-plugins/SkillManagerPlugin/CMakeLists.txt

@@ -10,12 +10,13 @@ set(SOURCES
     aronTreeWidget/visitors/AronTreeWidgetSetter.cpp
     aronTreeWidget/visitors/AronTreeWidgetModalCreator.cpp
     aronTreeWidget/visitors/AronTreeWidgetContextMenu.cpp
-    aronTreeWidget/Data.cpp
     aronTreeWidget/widgets/CustomWidget.cpp
     aronTreeWidget/widgets/EditMatrixWidget.cpp
     aronTreeWidget/widgets/IntEnumWidget.cpp
-    aronTreeWidget/ListDictHelper.cpp
     aronTreeWidget/widgets/QuaternionWidget.cpp
+    aronTreeWidget/widgets/SkillDescriptionWidget.cpp
+    aronTreeWidget/Data.cpp
+    aronTreeWidget/ListDictHelper.cpp
     aronTreeWidget/AronTreeWidgetItem.cpp
     aronTreeWidget/AronTreeWidgetController.cpp
     aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.cpp
@@ -34,13 +35,14 @@ set(HEADERS
     aronTreeWidget/visitors/AronTreeWidgetSetter.h
     aronTreeWidget/visitors/AronTreeWidgetModalCreator.h
     aronTreeWidget/visitors/AronTreeWidgetContextMenu.h
-    aronTreeWidget/Data.h
     aronTreeWidget/widgets/NDArrayHelper.h
     aronTreeWidget/widgets/EditMatrixWidget.h
     aronTreeWidget/widgets/CustomWidget.h
     aronTreeWidget/widgets/IntEnumWidget.h
-    aronTreeWidget/ListDictHelper.h
     aronTreeWidget/widgets/QuaternionWidget.h
+    aronTreeWidget/widgets/SkillDescriptionWidget.h
+    aronTreeWidget/Data.h
+    aronTreeWidget/ListDictHelper.h
     aronTreeWidget/AronTreeWidgetItem.h
     aronTreeWidget/AronTreeWidgetController.h
     aronTreeWidget/modal/AronTreeWidgetModal.h

source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidget.ui

@@ -20,6 +20,9 @@
    <string>SkillManagerMonitorWidget</string>
   </property>
   <layout class="QGridLayout" name="gridLayout_3">
+   <item row="3" column="2">
+    <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
+   </item>
    <item row="3" column="0">
     <widget class="QCheckBox" name="checkBoxAutoUpdate">
      <property name="text">
@@ -27,16 +30,6 @@
      </property>
     </widget>
    </item>
-   <item row="3" column="3">
-    <widget class="QPushButton" name="pushButtonRefreshNow">
-     <property name="text">
-      <string>Refresh Now</string>
-     </property>
-    </widget>
-   </item>
-   <item row="3" column="2">
-    <widget class="QDoubleSpinBox" name="doubleSpinBoxUpdateFreq"/>
-   </item>
    <item row="3" column="1">
     <widget class="QLabel" name="label">
      <property name="text">
@@ -47,6 +40,13 @@
      </property>
     </widget>
    </item>
+   <item row="3" column="3">
+    <widget class="QPushButton" name="pushButtonRefreshNow">
+     <property name="text">
+      <string>Refresh Now</string>
+     </property>
+    </widget>
+   </item>
    <item row="4" column="0" colspan="4">
     <widget class="QSplitter" name="splitter_2">
      <property name="enabled">
@@ -176,72 +176,137 @@
        <property name="title">
         <string>Skill Details</string>
        </property>
-       <layout class="QGridLayout" name="gridLayout_2">
-        <item row="8" column="3">
-         <widget class="QPushButton" name="pushButtonExecuteSkill">
-          <property name="text">
-           <string>Request Execution</string>
+       <layout class="QVBoxLayout" name="verticalLayout">
+        <item>
+         <widget class="QSplitter" name="splitter_2">
+          <property name="enabled">
+           <bool>true</bool>
           </property>
-         </widget>
-        </item>
-        <item row="0" column="0">
-         <widget class="QPushButton" name="pushButtonPaste">
-          <property name="text">
-           <string>Set args from clipboard</string>
+          <property name="sizePolicy">
+           <sizepolicy hsizetype="Preferred" vsizetype="Preferred">
+            <horstretch>0</horstretch>
+            <verstretch>0</verstretch>
+           </sizepolicy>
           </property>
-         </widget>
-        </item>
-        <item row="0" column="3">
-         <widget class="QPushButton" name="pushButtonReset">
-          <property name="text">
-           <string>Reset args to profile</string>
-          </property>
-         </widget>
-        </item>
-        <item row="3" column="0" colspan="4">
-         <widget class="QTreeWidget" name="treeWidgetSkillDetails">
-          <property name="contextMenuPolicy">
-           <enum>Qt::CustomContextMenu</enum>
+          <property name="orientation">
+           <enum>Qt::Vertical</enum>
           </property>
-          <property name="editTriggers">
-           <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+          <property name="childrenCollapsible">
+           <bool>false</bool>
           </property>
-          <column>
-           <property name="text">
-            <string>Key</string>
+          <widget class="QWidget" name="groupBoxSkillDetailsTop" native="true">
+          <layout class="QVBoxLayout" name="verticalLayout_2">
+           <property name="leftMargin">
+            <number>0</number>
            </property>
-          </column>
-          <column>
-           <property name="text">
-            <string>Value</string>
+           <property name="topMargin">
+            <number>0</number>
            </property>
-          </column>
-          <column>
-           <property name="text">
-            <string>Type</string>
+           <property name="rightMargin">
+            <number>0</number>
            </property>
-          </column>
-          <column>
-           <property name="text">
-            <string>defaultValue (hidden in GUI)</string>
+           <property name="bottomMargin">
+            <number>0</number>
            </property>
-          </column>
-         </widget>
-        </item>
-        <item row="0" column="1">
-         <widget class="QPushButton" name="pushButtonCopy">
-          <property name="text">
-           <string>Copy args to clipboard</string>
-          </property>
+           <item>
+            <layout class="QGridLayout" name="gridLayout_5">
+             <item row="0" column="0">
+              <widget class="QPushButton" name="pushButtonPaste">
+               <property name="text">
+                <string>Set args from clipboard</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="3">
+              <widget class="QPushButton" name="pushButtonReset">
+               <property name="text">
+                <string>Reset args to profile</string>
+               </property>
+              </widget>
+             </item>
+             <item row="1" column="0" colspan="4">
+              <widget class="QComboBox" name="comboBoxProfiles">
+               <item>
+                <property name="text">
+                 <string>&lt;No Profile selected. Using root&gt;</string>
+                </property>
+               </item>
+              </widget>
+             </item>
+             <item row="0" column="1">
+              <widget class="QPushButton" name="pushButtonCopy">
+               <property name="text">
+                <string>Copy args to clipboard</string>
+               </property>
+              </widget>
+             </item>
+             <item row="0" column="2">
+              <widget class="QLabel" name="label_2">
+               <property name="text">
+                <string/>
+               </property>
+              </widget>
+             </item>
+            </layout>
+           </item>
+           <item>
+            <widget class="QWidget" name="skillDescription" native="true"/>
+           </item>
+          </layout>
          </widget>
-        </item>
-        <item row="1" column="1" colspan="3">
-         <widget class="QComboBox" name="comboBoxProfiles">
-          <item>
-           <property name="text">
-            <string>&lt;No Profile selected. Using root&gt;</string>
-           </property>
-          </item>
+          <widget class="QWidget" name="groupBoxSkillDetailsBottom" native="true">
+           <layout class="QVBoxLayout" name="verticalLayout_3">
+            <property name="leftMargin">
+             <number>0</number>
+            </property>
+            <property name="topMargin">
+             <number>0</number>
+            </property>
+            <property name="rightMargin">
+             <number>0</number>
+            </property>
+            <property name="bottomMargin">
+             <number>0</number>
+            </property>
+            <item>
+             <widget class="QTreeWidget" name="treeWidgetSkillDetails">
+              <property name="contextMenuPolicy">
+               <enum>Qt::CustomContextMenu</enum>
+              </property>
+              <property name="editTriggers">
+               <set>QAbstractItemView::DoubleClicked|QAbstractItemView::EditKeyPressed</set>
+              </property>
+              <column>
+               <property name="text">
+                <string>Key</string>
+               </property>
+              </column>
+              <column>
+               <property name="text">
+                <string>Value</string>
+               </property>
+              </column>
+              <column>
+               <property name="text">
+                <string>Type</string>
+               </property>
+              </column>
+              <column>
+               <property name="text">
+                <string>defaultValue (hidden in GUI)</string>
+               </property>
+              </column>
+             </widget>
+            </item>
+            <item>
+             <widget class="QPushButton" name="pushButtonExecuteSkill">
+              <property name="text">
+               <string>Request Execution</string>
+              </property>
+             </widget>
+            </item>
+           </layout>
+          </widget>
          </widget>
         </item>
        </layout>

source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.cpp

@@ -25,8 +25,6 @@
 #include <regex>
 #include <string>
 
-#include <boost/algorithm/string.hpp>
-
 #include <RobotAPI/libraries/skills/core/Skill.h>
 
 #include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
@@ -34,19 +32,24 @@
 #include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
 
 // modals
-
 #include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
 
 // debug
-#include <QAction>
 #include <QClipboard>
 #include <QDoubleSpinBox>
-#include <QMenu>
+#include <QGridLayout>
+#include <QTextBrowser>
 
 #include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+#include <RobotAPI/libraries/skills/core/Skill.h>
 #include <RobotAPI/libraries/skills/core/SkillExecutionRequest.h>
 
 #include "aronTreeWidget/Data.h"
+#include "aronTreeWidget/modal/text/AronTreeWidgetTextInputModalController.h"
+#include "aronTreeWidget/visitors/AronTreeWidgetConverter.h"
+#include "aronTreeWidget/visitors/AronTreeWidgetCreator.h"
+#include "aronTreeWidget/visitors/AronTreeWidgetModalCreator.h"
+#include "aronTreeWidget/widgets/SkillDescriptionWidget.h"
 
 //configSk
 namespace armarx
@@ -85,38 +88,6 @@ namespace armarx
 // Others
 namespace armarx
 {
-    void
-    SkillManagerMonitorWidgetController::prepareAndRunMenu(const QPoint& pos)
-    {
-        QMenu* menu = new QMenu();
-
-        // Stop skill
-        QAction* stopSkillAction = new QAction("Stop Skill", this);
-        skills::SkillStatus currentStatus =
-            skillStatusUpdates.at(selectedSkill.skillExecutionId).status;
-        stopSkillAction->setDisabled(currentStatus == skills::SkillStatus::Aborted ||
-                                     currentStatus == skills::SkillStatus::Failed ||
-                                     currentStatus == skills::SkillStatus::Succeeded);
-
-        QAction* rerunSkillAction = new QAction("Re-run with similar params", this);
-        menu->addAction(stopSkillAction);
-        menu->addAction(rerunSkillAction);
-        connect(stopSkillAction,
-                &QAction::triggered,
-                this,
-                &SkillManagerMonitorWidgetController::stopSkill);
-        connect(rerunSkillAction,
-                &QAction::triggered,
-                this,
-                &SkillManagerMonitorWidgetController::rerunSkillWithSimilarParams);
-
-        // Temporarily disable rerun-skill-Action
-        rerunSkillAction->setDisabled(true);
-
-        // open menu
-        menu->popup(widget.treeWidgetSkillExecutions->viewport()->mapToGlobal(pos));
-    }
-
     SkillExecutionInfoTreeWidgetItem*
     SkillExecutionInfoTreeWidgetItem::SearchRecursiveForMatch(
         SkillExecutionInfoTreeWidgetItem* haystack,
@@ -149,7 +120,12 @@ namespace armarx
         widget.doubleSpinBoxUpdateFreq->setMaximum(20);
         widget.doubleSpinBoxUpdateFreq->setSingleStep(0.5);
         widget.doubleSpinBoxUpdateFreq->setSuffix(" Hz");
-        this->currentSkillSearch = QString("");
+
+        skillDescriptionWidget = new SkillDescriptionWidget();
+        widget.skillDescription->parentWidget()->layout()->replaceWidget(widget.skillDescription,
+                                                                         skillDescriptionWidget);
+        widget.skillDescription = skillDescriptionWidget;
+
 
         refreshSkillsResultTimer = new QTimer(this);
         updateTimerFrequency();

source/RobotAPI/gui-plugins/SkillManagerPlugin/SkillManagerMonitorWidgetController.h

@@ -46,6 +46,8 @@
 
 namespace armarx
 {
+    class SkillDescriptionWidget;
+
     class SkillInfoTreeWidgetItem : public QTreeWidgetItem
     {
     public:
@@ -185,6 +187,7 @@ namespace armarx
 
         // others
         QTimer* refreshSkillsResultTimer;
+        SkillDescriptionWidget* skillDescriptionWidget = nullptr;
 
         // connected flag
         std::atomic_bool connected = false;

source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.cpp

+#include "SkillDescriptionWidget.h"
+
+#include <sstream>
+
+#include <QGridLayout>
+#include <QLabel>
+#include <QTextEdit>
+
+#include <ArmarXGui/libraries/ArmarXGuiBase/widgets/cpp-markdown/markdown.h> // ToDo: Move cpp-markdown to own Axii module.
+
+namespace armarx
+{
+
+    static std::string
+    markdownToHtml(const std::string& markdownText, size_t spacesPerTab = 2)
+    {
+        ::markdown::Document document(spacesPerTab);
+        document.read(markdownText);
+
+        std::stringstream html;
+        document.write(html);
+        return html.str();
+    }
+
+    SkillDescriptionWidget::SkillDescriptionWidget(QWidget* parent) : QWidget{parent}
+    {
+        QGridLayout* layout = new QGridLayout;
+        setLayout(layout);
+
+        layout->setMargin(0);
+
+        int row = 0;
+        int col = 0;
+
+        layout->addWidget(new QLabel("Name:"), row, col++);
+        name = new QLabel;
+        layout->addWidget(name, row, col++);
+
+        // Add some padding.
+        layout->addWidget(new QLabel(), row, col++);
+
+        {
+            QLabel* label = new QLabel("Timeout:");
+            label->setAlignment(Qt::AlignmentFlag::AlignRight);
+            layout->addWidget(label, row, col++);
+        }
+        timeout = new QLabel;
+        timeout->setAlignment(Qt::AlignmentFlag::AlignRight);
+        layout->addWidget(timeout, row, col++);
+
+        ++row;
+        int numCols = col;
+        col = 0;
+
+        description = new QTextEdit;
+        description->setReadOnly(true);
+        layout->addWidget(description, row, col, 1, numCols);
+        ++row;
+    }
+
+    void
+    SkillDescriptionWidget::setSkillDescription(const skills::SkillDescription& desc)
+    {
+        name->setText(QString::fromStdString(desc.skillId.skillName));
+        description->setHtml(QString::fromStdString(markdownToHtml(desc.description)));
+
+        std::stringstream timeoutStr;
+        timeoutStr << desc.timeout;
+        timeout->setText(QString::fromStdString(timeoutStr.str()));
+    }
+
+} // namespace armarx

source/RobotAPI/gui-plugins/SkillManagerPlugin/aronTreeWidget/widgets/SkillDescriptionWidget.h

+#pragma once
+
+#include <QWidget>
+
+#include <RobotAPI/libraries/skills/core/SkillDescription.h>
+
+class QLabel;
+class QTextEdit;
+
+namespace armarx
+{
+
+    class SkillDescriptionWidget : public QWidget
+    {
+    public:
+        SkillDescriptionWidget(QWidget* parent = nullptr);
+
+        void setSkillDescription(const skills::SkillDescription& desc);
+
+    private:
+        QLabel* name = nullptr;
+        QTextEdit* description = nullptr;
+        QLabel* timeout = nullptr;
+    };
+
+
+} // namespace armarx