diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.cpp b/source/RobotAPI/components/units/ForceTorqueUnit.cpp index b5b4822eee5704a5144a3b28484a4030f6aa07a1..dd18a056d60b74988898c824235960f98f731c11 100644 --- a/source/RobotAPI/components/units/ForceTorqueUnit.cpp +++ b/source/RobotAPI/components/units/ForceTorqueUnit.cpp @@ -27,7 +27,7 @@ using namespace armarx; void ForceTorqueUnit::onInitComponent() { - listenerName = "ForceTorqueValues"; + listenerName = getProperty<std::string>("ForceTorqueTopicName").getValue(); offeringTopic(listenerName); onInitForceTorqueUnit(); } diff --git a/source/RobotAPI/components/units/ForceTorqueUnit.h b/source/RobotAPI/components/units/ForceTorqueUnit.h index 86c708ae096048859e032bf3f67c5972415ff37f..c87a582e81b17632abdc593aef6b41df7b160662 100644 --- a/source/RobotAPI/components/units/ForceTorqueUnit.h +++ b/source/RobotAPI/components/units/ForceTorqueUnit.h @@ -43,6 +43,8 @@ namespace armarx ComponentPropertyDefinitions(prefix) { defineRequiredProperty<std::string>("AgentName", "Name of the agent for which the sensor values are provided"); + defineOptionalProperty<std::string>("ForceTorqueTopicName","ForceTorqueValues", "Name of the topic on which the sensor values are provided"); + // No required properties } diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp index 6eca3f82c630fee85ceed8f257a1d1a0f4bc5254..b0b046e1876a7258fdd121917c010da8e9fa7cb8 100644 --- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp +++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.cpp @@ -29,10 +29,10 @@ namespace armarx { - MdiPlugin::MdiPlugin(){ + SensorActorPlugin::SensorActorPlugin(){ addWidget<TCPMover>(); addWidget<ArmarXPlotter>(); } - Q_EXPORT_PLUGIN2(armarX_gui_MdiPlugin, MdiPlugin) + Q_EXPORT_PLUGIN2(armarX_gui_SensorActorPlugin, SensorActorPlugin) } diff --git a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h index b4b92ba1806730c93587b564b063d1bf32cd2829..578cd8d4ae63a3e71e5182d5a70d80372cb80452 100644 --- a/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h +++ b/source/RobotAPI/gui_plugins/SensorActorWidgetsPlugin/SensorActorWidgetsPlugin.h @@ -41,11 +41,11 @@ namespace armarx * * @see ArmarXPlotter */ - class ARMARXCOMPONENT_IMPORT_EXPORT MdiPlugin : + class ARMARXCOMPONENT_IMPORT_EXPORT SensorActorPlugin : public ArmarXGuiPlugin { public: - MdiPlugin(); + SensorActorPlugin(); }; }