diff --git a/scenarios/LaserScannerTest/LaserScannerTest.scx b/scenarios/LaserScannerTest/LaserScannerTest.scx
new file mode 100644
index 0000000000000000000000000000000000000000..dde93318980244be817875d4c6053720d0455418
--- /dev/null
+++ b/scenarios/LaserScannerTest/LaserScannerTest.scx
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="LaserScannerTest" lastChange="2017-03-09.17:02:34" creation="2017-03-07.16:12:47" globalConfigName="./config/global.cfg" package="RobotAPI">
+ <application name="HokuyoLaserUnitApp" instance="" package="RobotAPI"/>
+ <application name="LaserScannerUnitObserverApp" instance="" package="RobotAPI"/>
+</scenario>
+
diff --git a/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..6f8512d97047c86bb3fe4cadba24fad5fb6f5255
--- /dev/null
+++ b/scenarios/LaserScannerTest/config/HokuyoLaserUnitApp.cfg
@@ -0,0 +1,183 @@
+# ==================================================================
+# HokuyoLaserUnitApp properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.HokuyoLaserUnit.AngleOffset: Offset is applied the raw angles before reporting them
+# Attributes:
+# - Default: -2.3561945
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HokuyoLaserUnit.AngleOffset = -2.3561945
+
+
+# ArmarX.HokuyoLaserUnit.Devices: List of devices in form of 'IP1,port1;IP2,port2;...'
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+ArmarX.HokuyoLaserUnit.Devices = "192.168.0.10,10940"
+
+
+# ArmarX.HokuyoLaserUnit.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HokuyoLaserUnit.EnableProfiling = 0
+
+
+# ArmarX.HokuyoLaserUnit.LaserScannerTopicName: Name of the laser scan topic.
+# Attributes:
+# - Default: LaserScans
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HokuyoLaserUnit.LaserScannerTopicName = LaserScans
+
+
+# ArmarX.HokuyoLaserUnit.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HokuyoLaserUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.HokuyoLaserUnit.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HokuyoLaserUnit.ObjectName = ""
+
+
+# ArmarX.HokuyoLaserUnit.UpdatePeriod: Update period for laser scans
+# Attributes:
+# - Default: 25
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.HokuyoLaserUnit.UpdatePeriod = 25
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RedirectStdout = 1
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.StartDebuggerOnCrash = 0
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.UseTimeServer = 0
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Verbosity = Info
+
+
+
+
+
diff --git a/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg b/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..5d4e2e744baf2c25a947db4ca667f51c39fcd31d
--- /dev/null
+++ b/scenarios/LaserScannerTest/config/LaserScannerUnitObserverApp.cfg
@@ -0,0 +1,183 @@
+# ==================================================================
+# LaserScannerUnitObserverApp properties
+# ==================================================================
+
+# ArmarX.AdditionalPackages: List of additional ArmarX packages which should be in the list of default packages. If you have custom packages, which should be found by the gui or other apps, specify them here. Comma separated List.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.AdditionalPackages = Default value not mapped.
+
+
+# ArmarX.ApplicationName: Application name
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.ApplicationName = ""
+
+
+# ArmarX.CachePath: Path for cache files
+# Attributes:
+# - Default: ${HOME}/.armarx/mongo/.cache
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.CachePath = ${HOME}/.armarx/mongo/.cache
+
+
+# ArmarX.Config: Comma-separated list of configuration files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Config = ""
+
+
+# ArmarX.DataPath: Semicolon-separated search list for data files
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DataPath = ""
+
+
+# ArmarX.DefaultPackages: List of ArmarX packages which are accessible by default. Comma separated List. If you want to add your own packages and use all default ArmarX packages, use the property 'AdditionalPackages'.
+# Attributes:
+# - Default: Default value not mapped.
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DefaultPackages = Default value not mapped.
+
+
+# ArmarX.DependenciesConfig: Path to the (usually generated) config file containing all data paths of all dependent projects. This property usually does not need to be edited.
+# Attributes:
+# - Default: ./config/dependencies.cfg
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DependenciesConfig = ./config/dependencies.cfg
+
+
+# ArmarX.DisableLogging: Turn logging off in whole application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.DisableLogging = 0
+
+
+# ArmarX.EnableProfiling: Enable profiling of CPU load produced by this application
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.EnableProfiling = 0
+
+
+# ArmarX.LaserScannerUnitObserver.CreateUpdateFrequenciesChannel: If true, an additional channel is created that shows the update frequency of every other channel in that observer.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.CreateUpdateFrequenciesChannel = 0
+
+
+# ArmarX.LaserScannerUnitObserver.EnableProfiling: enable profiler which is used for logging performance events
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.EnableProfiling = 0
+
+
+# ArmarX.LaserScannerUnitObserver.LaserScannerTopicName: Name of the laser scan topic.
+# Attributes:
+# - Default: LaserScans
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.LaserScannerTopicName = LaserScans
+
+
+# ArmarX.LaserScannerUnitObserver.MaxHistoryRecordFrequency: The Observer history is written with this maximum frequency. Everything faster is being skipped.
+# Attributes:
+# - Default: 50
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.LaserScannerUnitObserver.MaxHistorySize: Maximum number of entries in the Observer history
+# Attributes:
+# - Default: 5000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.LaserScannerUnitObserver.MinimumLoggingLevel: Local logging level only for this component
+# Attributes:
+# - Default: Undefined
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.LaserScannerUnitObserver.ObjectName: Name of IceGrid well-known object
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.LaserScannerUnitObserver.ObjectName = ""
+
+
+# ArmarX.RedirectStdout: Redirect std::cout and std::cerr to ArmarXLog
+# Attributes:
+# - Default: 1
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RedirectStdout = 1
+
+
+# ArmarX.RemoteHandlesDeletionTimeout: The timeout (in ms) before a remote handle deletes the managed object after the use count reached 0. This time can be used by a client to increment the count again (may be required when transmitting remote handles)
+# Attributes:
+# - Default: 3000
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.RemoteHandlesDeletionTimeout = 3000
+
+
+# ArmarX.StartDebuggerOnCrash: If this application crashes (segmentation fault) qtcreator will attach to this process and start the debugger.
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.StartDebuggerOnCrash = 0
+
+
+# ArmarX.TopicSuffix: Suffix appended to all topic names for outgoing topics. This is mainly used to direct all topics to another name for TopicReplaying purposes.
+# Attributes:
+# - Default: ""
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.TopicSuffix = ""
+
+
+# ArmarX.UseTimeServer: Enable using a global Timeserver (e.g. from ArmarXSimulator)
+# Attributes:
+# - Default: 0
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.UseTimeServer = 0
+
+
+# ArmarX.Verbosity: Global logging level for whole application
+# Attributes:
+# - Default: Info
+# - Case sensitivity: no
+# - Required: no
+# ArmarX.Verbosity = Info
+
+
+
+
+
diff --git a/scenarios/LaserScannerTest/config/global.cfg b/scenarios/LaserScannerTest/config/global.cfg
new file mode 100644
index 0000000000000000000000000000000000000000..e7cd7f67055d284001fc7ac3ad93ed5b65719366
--- /dev/null
+++ b/scenarios/LaserScannerTest/config/global.cfg
@@ -0,0 +1,7 @@
+# ==================================================================
+# Global Config from Scenario LaserScannerTest
+# ==================================================================
+
+
+
+
diff --git a/source/RobotAPI/applications/CMakeLists.txt b/source/RobotAPI/applications/CMakeLists.txt
index 057bcd82fe1e8e3aa35a1e244d2d671360abc9fe..a0b259ba1c6dd4e5339dc390f5e6de6e3a138a5e 100644
--- a/source/RobotAPI/applications/CMakeLists.txt
+++ b/source/RobotAPI/applications/CMakeLists.txt
@@ -22,6 +22,8 @@ add_subdirectory(InertialMeasurementUnitObserver)
add_subdirectory(ViewSelection)
+add_subdirectory(HokuyoLaserUnit)
+add_subdirectory(LaserScannerUnitObserver)
add_subdirectory(OrientedTactileSensorUnit)
add_subdirectory(OrientedTactileSensorUnitObserver)
diff --git a/source/RobotAPI/applications/HokuyoLaserUnit/CMakeLists.txt b/source/RobotAPI/applications/HokuyoLaserUnit/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..5cbb7a44126940f6ca1c0c476189689794010e0a
--- /dev/null
+++ b/source/RobotAPI/applications/HokuyoLaserUnit/CMakeLists.txt
@@ -0,0 +1,22 @@
+armarx_component_set_name("HokuyoLaserUnitApp")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+find_package(HokuyoLaserScannerDriver QUIET)
+
+set(COMPONENT_LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ HokuyoLaserUnit
+)
+
+set(EXE_SOURCE main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/HokuyoLaserUnit/main.cpp b/source/RobotAPI/applications/HokuyoLaserUnit/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..111a542188d5d46aa6f5664aa5476d9c7dc6f88e
--- /dev/null
+++ b/source/RobotAPI/applications/HokuyoLaserUnit/main.cpp
@@ -0,0 +1,32 @@
+/*
+ * 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::application::HokyouLaserUnit
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ return armarx::runSimpleComponentApp < armarx::HokuyoLaserUnit > (argc, argv, "HokuyoLaserUnit");
+}
diff --git a/source/RobotAPI/applications/LaserScannerUnitObserver/CMakeLists.txt b/source/RobotAPI/applications/LaserScannerUnitObserver/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..510e19879be5a995f91d9b5f4795e53ec547adf1
--- /dev/null
+++ b/source/RobotAPI/applications/LaserScannerUnitObserver/CMakeLists.txt
@@ -0,0 +1,20 @@
+armarx_component_set_name("LaserScannerUnitObserverApp")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(COMPONENT_LIBS
+ ArmarXCoreInterfaces
+ ArmarXCore
+ RobotAPIUnits
+)
+
+set(EXE_SOURCE main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")
diff --git a/source/RobotAPI/applications/LaserScannerUnitObserver/main.cpp b/source/RobotAPI/applications/LaserScannerUnitObserver/main.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..ecae3d6b3b6a05d96acf8d1e3b661d2ed47e5f58
--- /dev/null
+++ b/source/RobotAPI/applications/LaserScannerUnitObserver/main.cpp
@@ -0,0 +1,32 @@
+/*
+ * 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::application::LaserScannerUnitObserver
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include <RobotAPI/components/units/LaserScannerUnitObserver.h>
+
+#include <ArmarXCore/core/application/Application.h>
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/logging/Logging.h>
+
+int main(int argc, char* argv[])
+{
+ return armarx::runSimpleComponentApp < armarx::LaserScannerUnitObserver > (argc, argv, "LaserScannerUnitObserver");
+}
diff --git a/source/RobotAPI/components/units/CMakeLists.txt b/source/RobotAPI/components/units/CMakeLists.txt
index 094894ff37a192e20113ed94304eb1c7a1b8b713..db1d1de7c91dcf1f6a6f7f06378e5ef5e0499cfb 100644
--- a/source/RobotAPI/components/units/CMakeLists.txt
+++ b/source/RobotAPI/components/units/CMakeLists.txt
@@ -35,6 +35,7 @@ set(LIB_HEADERS
OptoForceUnitObserver.h
OrientedTactileSensorUnitObserver.h
GamepadUnitObserver.h
+ LaserScannerUnitObserver.h
TCPControlUnit.h
TCPControlUnitObserver.h
@@ -60,6 +61,7 @@ set(LIB_FILES
HapticObserver.cpp
InertialMeasurementUnit.cpp
InertialMeasurementUnitObserver.cpp
+ LaserScannerUnitObserver.cpp
OptoForceUnitObserver.cpp
OrientedTactileSensorUnitObserver.cpp
GamepadUnitObserver.cpp
diff --git a/source/RobotAPI/components/units/LaserScannerUnitObserver.cpp b/source/RobotAPI/components/units/LaserScannerUnitObserver.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..7e5980094db9c2eeac1409e2ba1544e8c4538331
--- /dev/null
+++ b/source/RobotAPI/components/units/LaserScannerUnitObserver.cpp
@@ -0,0 +1,113 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2011-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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/>.
+ *
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+#include "LaserScannerUnitObserver.h"
+
+
+#include <ArmarXCore/observers/checks/ConditionCheckEquals.h>
+#include <ArmarXCore/observers/checks/ConditionCheckLarger.h>
+#include <ArmarXCore/observers/checks/ConditionCheckSmaller.h>
+#include <ArmarXCore/observers/checks/ConditionCheckUpdated.h>
+
+#include <RobotAPI/libraries/core/Pose.h>
+
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
+
+
+
+using namespace armarx;
+
+
+void LaserScannerUnitObserver::onInitObserver()
+{
+ usingTopic(getProperty<std::string>("LaserScannerTopicName").getValue());
+
+ offerConditionCheck("updated", new ConditionCheckUpdated());
+ offerConditionCheck("larger", new ConditionCheckLarger());
+ offerConditionCheck("equals", new ConditionCheckEquals());
+ offerConditionCheck("smaller", new ConditionCheckSmaller());
+}
+
+
+
+void LaserScannerUnitObserver::onConnectObserver()
+{
+}
+
+
+void LaserScannerUnitObserver::onExitObserver()
+{
+}
+
+
+PropertyDefinitionsPtr LaserScannerUnitObserver::createPropertyDefinitions()
+{
+ return PropertyDefinitionsPtr(new LaserScannerUnitObserverPropertyDefinitions(getConfigIdentifier()));
+}
+
+void LaserScannerUnitObserver::reportSensorValues(const std::string& device, const std::string& name, const LaserScan& scan, const TimestampBasePtr& timestamp, const Ice::Current& c)
+{
+ ScopedLock lock(dataMutex);
+
+ if (!existsChannel(device))
+ {
+ offerChannel(device, "laser scans");
+ }
+
+ TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
+ offerOrUpdateDataField(device, "timestamp", timestampPtr, "Timestamp");
+
+ // Calculate some statistics on the laser scan
+ float minDistance = FLT_MAX;
+ float minAngle = 0.0f;
+ float maxDistance = -FLT_MAX;
+ float maxAngle = 0.0f;
+ float distanceSum = 0.0f;
+ for (LaserScanStep const & step : scan)
+ {
+ distanceSum += step.distance;
+ if (step.distance < minDistance)
+ {
+ minDistance = step.distance;
+ minAngle = step.angle;
+ }
+ if (step.distance > maxDistance)
+ {
+ maxDistance = step.distance;
+ maxAngle = step.angle;
+ }
+ }
+
+ if (scan.size() > 0)
+ {
+ offerOrUpdateDataField(device, "minDistance", minDistance, "minimal distance in scan");
+ offerOrUpdateDataField(device, "minAngle", minAngle, "angle with minimal distance in scan");
+ offerOrUpdateDataField(device, "maxDistance", maxDistance, "maximal distance in scan");
+ offerOrUpdateDataField(device, "maxAngle", maxAngle, "angle with maximal distance in scan");
+ float averageDistance = distanceSum / scan.size();
+ offerOrUpdateDataField(device, "averageDistance", averageDistance, "average distance in scan");
+ }
+
+ updateChannel(device);
+}
+
+
diff --git a/source/RobotAPI/components/units/LaserScannerUnitObserver.h b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
new file mode 100644
index 0000000000000000000000000000000000000000..0696ec089541842bca8c24e34030c696f2b885b9
--- /dev/null
+++ b/source/RobotAPI/components/units/LaserScannerUnitObserver.h
@@ -0,0 +1,87 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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::units
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_LASER_SCANNER_UNIT_OBSERVER_H
+#define _ARMARX_ROBOTAPI_LASER_SCANNER_UNIT_OBSERVER_H
+
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
+#include <ArmarXCore/observers/Observer.h>
+#include <RobotAPI/interface/visualization/DebugDrawerInterface.h>
+#include <RobotAPI/libraries/core/Pose.h>
+
+
+namespace armarx
+{
+ /**
+ * \class LaserScannerUnitObserverPropertyDefinitions
+ * \brief
+ */
+ class LaserScannerUnitObserverPropertyDefinitions:
+ public ObserverPropertyDefinitions
+ {
+ public:
+ LaserScannerUnitObserverPropertyDefinitions(std::string prefix):
+ ObserverPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::string>("LaserScannerTopicName", "LaserScans", "Name of the laser scan topic.");
+ }
+ };
+
+
+ /**
+ * \class LaserScannerUnitObserver
+ * \ingroup RobotAPI-SensorActorUnits-observers
+ * \brief Observer monitoring laser scanner values
+ *
+ * The LaserScannerUnitObserver monitors laser scanner values published by LaserScannerUnit-implementations.
+ */
+ class LaserScannerUnitObserver :
+ virtual public Observer,
+ virtual public LaserScannerUnitObserverInterface
+ {
+ public:
+ LaserScannerUnitObserver() {}
+
+ virtual std::string getDefaultName() const
+ {
+ return "LaserScannerUnitObserver";
+ }
+ virtual void onInitObserver();
+ virtual void onConnectObserver();
+ virtual void onExitObserver();
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual PropertyDefinitionsPtr createPropertyDefinitions();
+
+ void reportSensorValues(const std::string& device, const std::string& name, const LaserScan& scan,
+ const TimestampBasePtr& timestamp, const Ice::Current& c) override;
+
+ private:
+ Mutex dataMutex;
+
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/drivers/CMakeLists.txt b/source/RobotAPI/drivers/CMakeLists.txt
index 888f658742121c3025a256170ba569098970edb9..3b1e2a1040f5ef0cabebb8eaba0d4e5946bef35f 100644
--- a/source/RobotAPI/drivers/CMakeLists.txt
+++ b/source/RobotAPI/drivers/CMakeLists.txt
@@ -3,4 +3,4 @@ add_subdirectory(XsensIMU)
add_subdirectory(OptoForceUnit)
add_subdirectory(OrientedTactileSensor)
add_subdirectory(GamepadUnit)
-
+add_subdirectory(HokuyoLaserUnit)
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/CMakeLists.txt b/source/RobotAPI/drivers/HokuyoLaserUnit/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..d78aae9576595b3e4461178cf8c9c171ae987536
--- /dev/null
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/CMakeLists.txt
@@ -0,0 +1,31 @@
+armarx_component_set_name("HokuyoLaserUnit")
+
+#find_package(MyLib QUIET)
+#armarx_build_if(MyLib_FOUND "MyLib not available")
+#
+# all include_directories must be guarded by if(Xyz_FOUND)
+# for multiple libraries write: if(X_FOUND AND Y_FOUND)....
+#if(MyLib_FOUND)
+# include_directories(${MyLib_INCLUDE_DIRS})
+#endif()
+
+find_package(HokuyoLaserScannerDriver QUIET)
+armarx_build_if(HokuyoLaserScannerDriver_FOUND "Hokuyo laser scanner driver not found")
+
+set(COMPONENT_LIBS ArmarXCoreInterfaces ArmarXCore ArmarXCoreObservers ArmarXCoreEigen3Variants
+ RobotAPICore RobotAPIUnits
+ HokuyoLaserScannerDriver)
+
+set(SOURCES
+./HokuyoLaserUnit.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.cpp
+)
+set(HEADERS
+./HokuyoLaserUnit.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@.h
+)
+
+armarx_add_component("${SOURCES}" "${HEADERS}")
+
+# add unit tests
+add_subdirectory(test)
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..fca068ee614dcd7e11f4e95ded08c8a0d853cab2
--- /dev/null
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.cpp
@@ -0,0 +1,207 @@
+/*
+ * 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::HokuyoLaserUnit
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "HokuyoLaserUnit.h"
+
+#include <ArmarXCore/observers/variant/TimestampVariant.h>
+
+#include <boost/algorithm/string/split.hpp>
+#include <urg_utils.h>
+
+using namespace armarx;
+
+
+void HokuyoLaserUnit::onInitComponent()
+{
+ topicName = getProperty<std::string>("LaserScannerTopicName").getValue();
+ offeringTopic(topicName);
+ updatePeriod = getProperty<int>("UpdatePeriod").getValue();
+ angleOffset = getProperty<float>("AngleOffset").getValue();
+
+ std::string deviceStrings = getProperty<std::string>("Devices").getValue();
+ std::vector<std::string> splitDeviceStrings;
+ boost::split(splitDeviceStrings, deviceStrings, boost::is_any_of(";"));
+ devices.clear();
+ devices.reserve(splitDeviceStrings.size());
+ for (std::string const & deviceString : splitDeviceStrings)
+ {
+ std::vector<std::string> ipAndPort;
+ boost::split(ipAndPort, deviceString, boost::is_any_of(","));
+ if (ipAndPort.size() != 2)
+ {
+ ARMARX_WARNING << "Unexpected format for laser scanner device: " << deviceString
+ << " (split size: " << ipAndPort.size() << ")";
+ continue;
+ }
+
+ try
+ {
+ HokuyoLaserScanDevice device;
+ device.ip = ipAndPort[0];
+ device.port = std::stoi(ipAndPort[1]);
+ device.connected = false;
+ device.isDummy = boost::starts_with(device.ip, "Dummy");
+ devices.push_back(device);
+ }
+ catch (std::exception const& ex)
+ {
+ ARMARX_WARNING << "Could not convert port to integer for laser scanner device " << deviceString
+ << " (port is " << ipAndPort[1] << ") : " << ex.what();
+ continue;
+ }
+ }
+}
+
+
+void HokuyoLaserUnit::onConnectComponent()
+{
+ topic = getTopic<LaserScannerUnitListenerPrx>(topicName);
+
+ if (task)
+ {
+ task->stop();
+ }
+
+ for (HokuyoLaserScanDevice & device : devices)
+ {
+ if (device.isDummy)
+ {
+ continue;
+ }
+ int ret = urg_open(&device.urg, URG_ETHERNET, device.ip.c_str(), device.port);
+ device.connected = (ret == 0);
+ if (!device.connected)
+ {
+ ARMARX_WARNING << "Could not connect to laser scanner device using URG driver (IP: "
+ << device.ip << ", Port: " << device.port << ", Error: " << ret << ")";
+ continue;
+ }
+
+ int lengthDataSize = urg_max_data_size(&device.urg);
+ device.lengthData.resize(lengthDataSize);
+ }
+
+ task = new PeriodicTask<HokuyoLaserUnit>(this, &HokuyoLaserUnit::updateScanData, updatePeriod, false, "HokuyoLaserScanUpdate");
+ task->start();
+}
+
+
+void HokuyoLaserUnit::onDisconnectComponent()
+{
+ if (task)
+ {
+ task->stop();
+ }
+
+ for (HokuyoLaserScanDevice & device : devices)
+ {
+ if (device.connected)
+ {
+ urg_close(&device.urg);
+ device.connected = false;
+ }
+ }
+}
+
+
+void HokuyoLaserUnit::onExitComponent()
+{
+
+}
+
+armarx::PropertyDefinitionsPtr HokuyoLaserUnit::createPropertyDefinitions()
+{
+ return armarx::PropertyDefinitionsPtr(new HokuyoLaserUnitPropertyDefinitions(
+ getConfigIdentifier()));
+}
+
+std::string HokuyoLaserUnit::getReportTopicName(const Ice::Current& c) const
+{
+ return topicName;
+}
+
+void HokuyoLaserUnit::updateScanData()
+{
+ LaserScan scan;
+ TimestampVariantPtr now(new TimestampVariant(TimeUtil::GetTime()));
+ for (HokuyoLaserScanDevice & device : devices)
+ {
+ if (device.isDummy)
+ {
+ static std::mt19937 engine;
+ std::uniform_real_distribution<float> dist(0.0f, 500.0f);
+
+ int lengthDataSize = 1081;
+ scan.clear();
+ scan.reserve(lengthDataSize);
+ for (int stepIndex = 0; stepIndex < lengthDataSize; ++stepIndex)
+ {
+ LaserScanStep step;
+ step.angle = angleOffset + float(0.25 * M_PI / 180.0 * stepIndex);
+ step.distance = stepIndex * 25000.0f / lengthDataSize + dist(engine);
+ scan.push_back(step);
+ }
+
+ // TODO: Better names for the devices?
+ ARMARX_INFO << deactivateSpam(1.0) << "Reporting new laser scan values";
+ topic->reportSensorValues(device.ip, device.ip, scan, now);
+ continue;
+ }
+ if (device.connected)
+ {
+ int ret = urg_start_measurement(&device.urg, URG_DISTANCE, 1, 0);
+ if (ret != 0)
+ {
+ ARMARX_WARNING << deactivateSpam(1) << "Could not start measurement for laser scanner (IP: "
+ << device.ip << ", Port: " << device.port << ", Error: " << ret << ")";
+ continue;
+ }
+
+ int lengthDataSize = urg_get_distance(&device.urg, device.lengthData.data(), nullptr);
+ if (lengthDataSize < 0)
+ {
+ ARMARX_WARNING << deactivateSpam(1) << "Could not get measurement for laser scanner (IP: "
+ << device.ip << ", Port: " << device.port << ", Error: " << lengthDataSize << ")";
+ continue;
+ }
+
+ scan.clear();
+ scan.reserve(lengthDataSize);
+ for (int stepIndex = 0; stepIndex < lengthDataSize; ++stepIndex)
+ {
+ LaserScanStep step;
+ long distance = device.lengthData[stepIndex];
+ // TODO: Extract the min and max valid value for distance into parameters
+ if (distance >= 21 && distance <= 30000)
+ {
+ step.angle = angleOffset + (float)urg_step2rad(&device.urg, stepIndex); // Convert steps to rad
+ step.distance = (float)distance; // Data is already in mm
+ scan.push_back(step);
+ }
+ }
+
+ // TODO: Better names for the devices?
+ topic->reportSensorValues(device.ip, device.ip, scan, now);
+ }
+ }
+}
+
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
new file mode 100644
index 0000000000000000000000000000000000000000..2445d3a03cea91086a57d7d6026ba98a119ad70e
--- /dev/null
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h
@@ -0,0 +1,129 @@
+/*
+ * 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::HokuyoLaserUnit
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_COMPONENT_RobotAPI_HokuyoLaserUnit_H
+#define _ARMARX_COMPONENT_RobotAPI_HokuyoLaserUnit_H
+
+#include <ArmarXCore/core/Component.h>
+#include <ArmarXCore/core/services/tasks/PeriodicTask.h>
+#include <RobotAPI/components/units/SensorActorUnit.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
+
+#include <urg_sensor.h>
+#include <vector>
+
+namespace armarx
+{
+ /**
+ * @class HokuyoLaserUnitPropertyDefinitions
+ * @brief
+ */
+ class HokuyoLaserUnitPropertyDefinitions:
+ public armarx::ComponentPropertyDefinitions
+ {
+ public:
+ HokuyoLaserUnitPropertyDefinitions(std::string prefix):
+ armarx::ComponentPropertyDefinitions(prefix)
+ {
+ defineOptionalProperty<std::string>("LaserScannerTopicName", "LaserScans", "Name of the laser scan topic.");
+ defineOptionalProperty<int>("UpdatePeriod", 25, "Update period for laser scans");
+ defineOptionalProperty<float>("AngleOffset", -2.3561944902, "Offset is applied the raw angles before reporting them");
+ defineOptionalProperty<std::string>("Devices", "", "List of devices in form of 'IP1,port1;IP2,port2;...'");
+ }
+ };
+
+ struct HokuyoLaserScanDevice
+ {
+ std::string ip;
+ int port = 0;
+ bool connected = false;
+ bool isDummy = false;
+ urg_t urg;
+ std::vector<long> lengthData;
+ };
+
+ /**
+ * @defgroup Component-HokuyoLaserUnit HokuyoLaserUnit
+ * @ingroup RobotAPI-Components
+ * A description of the component HokuyoLaserUnit.
+ *
+ * @class HokuyoLaserUnit
+ * @ingroup Component-HokuyoLaserUnit
+ * @brief Brief description of class HokuyoLaserUnit.
+ *
+ * Detailed description of class HokuyoLaserUnit.
+ */
+ class HokuyoLaserUnit :
+ virtual public armarx::LaserScannerUnitInterface,
+ virtual public armarx::SensorActorUnit
+ {
+ public:
+ /**
+ * @see armarx::ManagedIceObject::getDefaultName()
+ */
+ virtual std::string getDefaultName() const
+ {
+ return "HokuyoLaserUnit";
+ }
+
+ protected:
+ /**
+ * @see armarx::ManagedIceObject::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onDisconnectComponent()
+ */
+ virtual void onDisconnectComponent();
+
+ /**
+ * @see armarx::ManagedIceObject::onExitComponent()
+ */
+ virtual void onExitComponent();
+
+ /**
+ * @see PropertyUser::createPropertyDefinitions()
+ */
+ virtual armarx::PropertyDefinitionsPtr createPropertyDefinitions();
+
+ std::string getReportTopicName(const Ice::Current& c) const override;
+
+ private:
+ void updateScanData();
+
+ private:
+ std::string topicName;
+ LaserScannerUnitListenerPrx topic;
+ int updatePeriod = 25;
+ float angleOffset = 0.0f;
+ std::vector<HokuyoLaserScanDevice> devices;
+ PeriodicTask<HokuyoLaserUnit>::pointer_type task;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/test/CMakeLists.txt b/source/RobotAPI/drivers/HokuyoLaserUnit/test/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..bac2679024ebfd9630fbf1950557b344cbe82708
--- /dev/null
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/test/CMakeLists.txt
@@ -0,0 +1,5 @@
+
+# Libs required for the tests
+SET(LIBS ${LIBS} ArmarXCore HokuyoLaserUnit)
+
+armarx_add_test(HokuyoLaserUnitTest HokuyoLaserUnitTest.cpp "${LIBS}")
\ No newline at end of file
diff --git a/source/RobotAPI/drivers/HokuyoLaserUnit/test/HokuyoLaserUnitTest.cpp b/source/RobotAPI/drivers/HokuyoLaserUnit/test/HokuyoLaserUnitTest.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..581618323d926db09e1559e695df1345ed865190
--- /dev/null
+++ b/source/RobotAPI/drivers/HokuyoLaserUnit/test/HokuyoLaserUnitTest.cpp
@@ -0,0 +1,37 @@
+/*
+ * 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::HokuyoLaserUnit
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#define BOOST_TEST_MODULE RobotAPI::ArmarXObjects::HokuyoLaserUnit
+
+#define ARMARX_BOOST_TEST
+
+#include <RobotAPI/Test.h>
+#include <RobotAPI/drivers/HokuyoLaserUnit/HokuyoLaserUnit.h>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_CASE(testExample)
+{
+ armarx::HokuyoLaserUnit instance;
+
+ BOOST_CHECK_EQUAL(true, true);
+}
diff --git a/source/RobotAPI/gui-plugins/CMakeLists.txt b/source/RobotAPI/gui-plugins/CMakeLists.txt
index 8e1b05f0d2b9484747993691c5ece3f36addc723..fc363790ab3bf0da2fcbdd97a12daa1c84050093 100644
--- a/source/RobotAPI/gui-plugins/CMakeLists.txt
+++ b/source/RobotAPI/gui-plugins/CMakeLists.txt
@@ -10,3 +10,5 @@ add_subdirectory(RobotViewerPlugin)
add_subdirectory(DebugDrawerViewer)
add_subdirectory(ViewSelection)
+
+add_subdirectory(LaserScannerPlugin)
\ No newline at end of file
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt b/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..1c1e4e2822a8c5270ea6f90deb7389d6fbc86667
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/CMakeLists.txt
@@ -0,0 +1,40 @@
+
+armarx_set_target("LaserScannerPluginGuiPlugin")
+
+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
+./LaserScannerPluginGuiPlugin.cpp ./LaserScannerPluginWidgetController.cpp
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.cpp @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.cpp
+)
+
+set(HEADERS
+./LaserScannerPluginGuiPlugin.h ./LaserScannerPluginWidgetController.h
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@GuiPlugin.h @COMPONENT_PATH@/@COMPONENT_NAME@WidgetController.h
+)
+
+set(GUI_MOC_HDRS ${HEADERS})
+
+set(GUI_UIS
+./LaserScannerPluginWidget.ui
+#@TEMPLATE_LINE@@COMPONENT_PATH@/@COMPONENT_NAME@Widget.ui
+)
+
+# Add more libraries you depend on here, e.g. ${QT_LIBRARIES}.
+set(COMPONENT_LIBS HokuyoLaserUnit SimpleConfigDialog ${QT_LIBRARIES})
+
+if(ArmarXGui_FOUND)
+ armarx_gui_library(LaserScannerPluginGuiPlugin "${SOURCES}" "${GUI_MOC_HDRS}" "${GUI_UIS}" "" "${COMPONENT_LIBS}")
+endif()
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c391a0ff66ebe5698e8f4f4b62b2a874374ea7fd
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.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::LaserScannerPluginGuiPlugin
+ * \author Fabian Paus ( fabian dot paus at kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "LaserScannerPluginGuiPlugin.h"
+
+#include "LaserScannerPluginWidgetController.h"
+
+using namespace armarx;
+
+LaserScannerPluginGuiPlugin::LaserScannerPluginGuiPlugin()
+{
+ addWidget < LaserScannerPluginWidgetController > ();
+}
+
+Q_EXPORT_PLUGIN2(armarx_gui_LaserScannerPluginGuiPlugin, LaserScannerPluginGuiPlugin)
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.h
new file mode 100644
index 0000000000000000000000000000000000000000..1a5c4214efccae261883b613ce1d57b9a67a702e
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginGuiPlugin.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::LaserScannerPlugin
+ * \author Fabian Paus ( fabian dot paus at kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
+#define _ARMARX_RobotAPI_LaserScannerPlugin_GuiPlugin_H
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+
+namespace armarx
+{
+ /**
+ * \class LaserScannerPluginGuiPlugin
+ * \ingroup ArmarXGuiPlugins
+ * \brief LaserScannerPluginGuiPlugin brief description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT LaserScannerPluginGuiPlugin:
+ public armarx::ArmarXGuiPlugin
+ {
+ public:
+ /**
+ * All widgets exposed by this plugin are added in the constructor
+ * via calls to addWidget()
+ */
+ LaserScannerPluginGuiPlugin();
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidget.ui b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidget.ui
new file mode 100644
index 0000000000000000000000000000000000000000..097f7d74afaba5d7f1d1e8dcd8ce27b31ca3e4a4
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidget.ui
@@ -0,0 +1,63 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>LaserScannerPluginWidget</class>
+ <widget class="QWidget" name="LaserScannerPluginWidget">
+ <property name="geometry">
+ <rect>
+ <x>0</x>
+ <y>0</y>
+ <width>490</width>
+ <height>379</height>
+ </rect>
+ </property>
+ <property name="windowTitle">
+ <string>LaserScannerPluginWidget</string>
+ </property>
+ <layout class="QVBoxLayout" name="verticalLayout">
+ <property name="sizeConstraint">
+ <enum>QLayout::SetMinAndMaxSize</enum>
+ </property>
+ <item>
+ <layout class="QHBoxLayout" name="horizontalLayout" stretch="0,0">
+ <property name="spacing">
+ <number>6</number>
+ </property>
+ <item>
+ <widget class="QLabel" name="label">
+ <property name="sizePolicy">
+ <sizepolicy hsizetype="Ignored" vsizetype="Preferred">
+ <horstretch>0</horstretch>
+ <verstretch>0</verstretch>
+ </sizepolicy>
+ </property>
+ <property name="text">
+ <string>Device:</string>
+ </property>
+ <property name="alignment">
+ <set>Qt::AlignRight|Qt::AlignTrailing|Qt::AlignVCenter</set>
+ </property>
+ </widget>
+ </item>
+ <item>
+ <widget class="QComboBox" name="deviceComboBox"/>
+ </item>
+ </layout>
+ </item>
+ <item>
+ <widget class="QGraphicsView" name="graphicsView">
+ <property name="verticalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ <property name="horizontalScrollBarPolicy">
+ <enum>Qt::ScrollBarAlwaysOff</enum>
+ </property>
+ <property name="resizeAnchor">
+ <enum>QGraphicsView::AnchorViewCenter</enum>
+ </property>
+ </widget>
+ </item>
+ </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..c190417b22eeabd2a4f9acd43d755cde65231efb
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.cpp
@@ -0,0 +1,150 @@
+/*
+ * 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::LaserScannerPluginWidgetController
+ * \author Fabian Paus ( fabian dot paus at kit dot edu )
+ * \date 2017
+ * \copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#include "LaserScannerPluginWidgetController.h"
+
+#include <QGraphicsView>
+#include <QGraphicsLineItem>
+
+#include <string>
+
+using namespace armarx;
+
+LaserScannerPluginWidgetController::LaserScannerPluginWidgetController()
+{
+ widget.setupUi(getWidget());
+
+ widget.graphicsView->setScene(&scene);
+}
+
+
+LaserScannerPluginWidgetController::~LaserScannerPluginWidgetController()
+{
+
+}
+
+
+void LaserScannerPluginWidgetController::loadSettings(QSettings* settings)
+{
+
+}
+
+void LaserScannerPluginWidgetController::saveSettings(QSettings* settings)
+{
+
+}
+
+
+void LaserScannerPluginWidgetController::onInitComponent()
+{
+ usingProxy(laserScannerUnitName);
+
+ connect(this, SIGNAL(newSensorValuesReported()), this, SLOT(onNewSensorValuesReported()), Qt::QueuedConnection);
+}
+
+
+void LaserScannerPluginWidgetController::onConnectComponent()
+{
+ laserScannerUnit = getProxy<LaserScannerUnitInterfacePrx>(laserScannerUnitName);
+ std::string topicName = laserScannerUnit->getReportTopicName();
+ usingTopic(topicName);
+}
+
+QPointer<QDialog> LaserScannerPluginWidgetController::getConfigDialog(QWidget* parent)
+{
+ if (!dialog)
+ {
+ dialog = new SimpleConfigDialog(parent);
+ dialog->addProxyFinder<LaserScannerUnitInterfacePrx>({"LaserScannerUnit", "", "*LaserUnit"});
+ }
+ return qobject_cast<SimpleConfigDialog*>(dialog);
+}
+
+void LaserScannerPluginWidgetController::configured()
+{
+ if (dialog)
+ {
+ laserScannerUnitName = dialog->getProxyName("LaserScannerUnit");
+ }
+}
+
+void LaserScannerPluginWidgetController::reportSensorValues(const std::string& device, const std::string& name, const LaserScan& newScan, const TimestampBasePtr& timestamp, const Ice::Current& c)
+{
+ {
+ boost::mutex::scoped_lock lock(scanMutex);
+
+ LaserScan& scan = scans[device];
+ // TODO: Do some filtering? aggregation?
+ scan = newScan;
+ }
+
+ ARMARX_INFO << deactivateSpam(1) << "Got new laser scan values";
+ emit newSensorValuesReported();
+}
+
+void LaserScannerPluginWidgetController::onNewSensorValuesReported()
+{
+ // TODO: Draw something on the canvas
+
+ QComboBox* deviceBox = widget.deviceComboBox;
+
+ boost::mutex::scoped_lock lock(scanMutex);
+ for (auto & pair : scans)
+ {
+ QString deviceName(QString::fromStdString(pair.first.c_str()));
+ if (deviceBox->findText(deviceName) < 0)
+ {
+ deviceBox->addItem(deviceName);
+ }
+ }
+
+ std::string deviceName(deviceBox->currentText().toUtf8().data());
+
+ QGraphicsView* view = widget.graphicsView;
+
+
+ scene.clear();
+ int outerR = std::min(view->width() / 2, view->height() / 2);
+ scene.addEllipse(-outerR, -outerR, 2 * outerR, 2 * outerR, QPen(QColor(255, 255, 255)));
+ int r = outerR - 10;
+ scene.addEllipse(-r, -r, 2 * r, 2 * r, QPen(QColor(200, 200, 200)));
+ QColor stepColor(QColor::fromRgb(100, 100, 255));
+ QPen stepPen(stepColor);
+ QBrush stepBrush(stepColor);
+ auto line = [&](float angle, float d)
+ {
+ float di = d * r;
+ QGraphicsEllipseItem* item = scene.addEllipse(-di, -di, 2 * di, 2 * di, stepPen, stepBrush);
+ // Angles for Qt ellipse are in 16th of degree (who thought that would be a great idea?)
+ item->setStartAngle(std::round(16.0f * angle * 180.0 / M_PI));
+ item->setSpanAngle(std::round(0.25f * 16.0f));
+ //scene.addLine(0, 0, std::sin(angle) * d * r, std::cos(angle) * d * r);
+ };
+
+ LaserScan& scan = scans[deviceName];
+ for (LaserScanStep & step : scan)
+ {
+ line(step.angle, step.distance / 10000.0f);
+ }
+
+ view->fitInView(scene.itemsBoundingRect(), Qt::KeepAspectRatio);
+}
diff --git a/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
new file mode 100644
index 0000000000000000000000000000000000000000..7d35abcbf69903ad0d920073468369b00aa1ce28
--- /dev/null
+++ b/source/RobotAPI/gui-plugins/LaserScannerPlugin/LaserScannerPluginWidgetController.h
@@ -0,0 +1,131 @@
+/*
+ * 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::LaserScannerPluginWidgetController
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
+#define _ARMARX_RobotAPI_LaserScannerPlugin_WidgetController_H
+
+#include "ui_LaserScannerPluginWidget.h"
+
+#include <ArmarXCore/core/system/ImportExportComponent.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXGuiPlugin.h>
+#include <ArmarXGui/libraries/ArmarXGuiBase/ArmarXComponentWidgetController.h>
+#include <ArmarXGui/libraries/SimpleConfigDialog/SimpleConfigDialog.h>
+#include <RobotAPI/interface/units/LaserScannerUnit.h>
+
+namespace armarx
+{
+ /**
+ \page ArmarXGui-GuiPlugins-LaserScannerPlugin LaserScannerPlugin
+ \brief The LaserScannerPlugin allows visualizing ...
+
+ \image html LaserScannerPlugin.png
+ The user can
+
+ API Documentation \ref LaserScannerPluginWidgetController
+
+ \see LaserScannerPluginGuiPlugin
+ */
+
+ /**
+ * \class LaserScannerPluginWidgetController
+ * \brief LaserScannerPluginWidgetController brief one line description
+ *
+ * Detailed description
+ */
+ class ARMARXCOMPONENT_IMPORT_EXPORT
+ LaserScannerPluginWidgetController:
+ public armarx::ArmarXComponentWidgetController,
+ public armarx::LaserScannerUnitListener
+ {
+ Q_OBJECT
+
+ public:
+ /**
+ * Controller Constructor
+ */
+ explicit LaserScannerPluginWidgetController();
+
+ /**
+ * Controller destructor
+ */
+ virtual ~LaserScannerPluginWidgetController();
+
+ /**
+ * @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 "RobotControl.LaserScannerGUI";
+ }
+
+ /**
+ * \see armarx::Component::onInitComponent()
+ */
+ virtual void onInitComponent();
+
+ /**
+ * \see armarx::Component::onConnectComponent()
+ */
+ virtual void onConnectComponent();
+
+ QPointer<QDialog> getConfigDialog(QWidget* parent) override;
+
+ void configured() override;
+
+ void reportSensorValues(const std::string& device, const std::string& name,
+ const LaserScan& scan, const TimestampBasePtr& timestamp,
+ const Ice::Current& c) override;
+ public slots:
+ void onNewSensorValuesReported();
+
+ signals:
+ void newSensorValuesReported();
+
+ private:
+ /**
+ * Widget Form
+ */
+ Ui::LaserScannerPluginWidget widget;
+ QPointer<SimpleConfigDialog> dialog;
+
+ std::string laserScannerUnitName;
+ LaserScannerUnitInterfacePrx laserScannerUnit;
+
+ Mutex scanMutex;
+ std::unordered_map<std::string, LaserScan> scans;
+
+ QGraphicsScene scene;
+ };
+}
+
+#endif
diff --git a/source/RobotAPI/interface/CMakeLists.txt b/source/RobotAPI/interface/CMakeLists.txt
index 568707d1c8decd58d60c9855492b65dcb86591f7..3d41a9a888e2dcfb2c73b01c2bda133bc8ac0bec 100644
--- a/source/RobotAPI/interface/CMakeLists.txt
+++ b/source/RobotAPI/interface/CMakeLists.txt
@@ -24,6 +24,7 @@ set(SLICE_FILES
units/ForceTorqueUnit.ice
units/InertialMeasurementUnit.ice
units/OptoForceUnit.ice
+ units/LaserScannerUnit.ice
units/HandUnitInterface.ice
units/HapticUnit.ice
units/WeissHapticUnit.ice
diff --git a/source/RobotAPI/interface/units/LaserScannerUnit.ice b/source/RobotAPI/interface/units/LaserScannerUnit.ice
new file mode 100644
index 0000000000000000000000000000000000000000..113d5331f49cbebea16ed063e93d45f5469c86ed
--- /dev/null
+++ b/source/RobotAPI/interface/units/LaserScannerUnit.ice
@@ -0,0 +1,72 @@
+/*
+ * This file is part of ArmarX.
+ *
+ * Copyright (C) 2012-2016, High Performance Humanoid Technologies (H2T), Karlsruhe Institute of Technology (KIT), all rights reserved.
+ *
+ * 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
+ * @author Fabian Paus ( fabian dot paus at kit dot edu )
+ * @date 2017
+ * @copyright http://www.gnu.org/licenses/gpl-2.0.txt
+ * GNU General Public License
+ */
+
+#ifndef _ARMARX_ROBOTAPI_UNITS_LASER_SCANNER_UNIT_SLICE_
+#define _ARMARX_ROBOTAPI_UNITS_LASER_SCANNER_UNIT_SLICE_
+
+
+#include <RobotAPI/interface/units/UnitInterface.ice>
+#include <RobotAPI/interface/core/RobotState.ice>
+
+#include <ArmarXCore/interface/core/UserException.ice>
+#include <ArmarXCore/interface/core/BasicTypes.ice>
+#include <ArmarXCore/interface/observers/VariantBase.ice>
+#include <ArmarXCore/interface/observers/Matrix.ice>
+#include <ArmarXCore/interface/observers/Timestamp.ice>
+#include <ArmarXCore/interface/observers/ObserverInterface.ice>
+
+
+
+module armarx
+{
+ /**
+ * Struct LaserScanStep with which a single scan step is represented. It incorporates following entries:
+ * @param angle Angle in which direction a distance was measured [rad].
+ * @param distance The measured distance [mm].
+ **/
+ struct LaserScanStep {
+ float angle;
+ float distance;
+ };
+
+ sequence<LaserScanStep> LaserScan;
+
+ interface LaserScannerUnitInterface extends armarx::SensorActorUnitInterface
+ {
+ ["cpp:const"]
+ idempotent string getReportTopicName() throws NotInitializedException;
+ };
+
+ interface LaserScannerUnitListener
+ {
+ void reportSensorValues(string device, string name, LaserScan values, TimestampBase timestamp);
+ };
+
+ interface LaserScannerUnitObserverInterface extends ObserverInterface, LaserScannerUnitListener
+ {
+ };
+
+};
+
+#endif