Merge branch 'master' into SensorPackage

Conflicts:
	source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp
	source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h
	source/RobotAPI/libraries/CMakeLists.txt

CMakeLists.txt

 # RobotAPI
-
 cmake_minimum_required(VERSION 2.8)
+#if(NOT DEFINED CMAKE_SUPPRESS_DEVELOPER_WARNINGS)
+#     set(CMAKE_SUPPRESS_DEVELOPER_WARNINGS 1 CACHE INTERNAL "No dev warnings")
+#endif()
+
+if(POLICY CMP0043)
+    cmake_policy(SET CMP0043 OLD)
+endif()
 
 find_package("ArmarXCore" REQUIRED
     PATHS "$ENV{HOME}/armarx/Core/build"
@@ -28,7 +34,7 @@ endif()
 
 add_subdirectory(source)
 
-list(APPEND CPACK_DEBIAN_PACKAGE_DEPENDS "simox (>= ${ArmarX_Simox_VERSION})")
+list(APPEND CPACK_DEBIAN_PACKAGE_DEPENDS "simox (= ${ArmarX_Simox_VERSION})")
 
 install_project()
 

data/RobotAPI/VariantInfo-RobotAPI.xml

@@ -2,18 +2,18 @@
 <VariantInfo>
     <Lib name="RobotAPICore">
         <VariantFactory include="RobotAPI/libraries/core/RobotAPIObjectFactories.h" />
-        <Variant baseType="::armarx::Vector3Base" dataType="::armarx::Vector3" humanName="Vector3" />
-        <Variant baseType="::armarx::QuaternionBase" dataType="::armarx::Quaternion" humanName="Quaternion" />
-        <Variant baseType="::armarx::PoseBase" dataType="::armarx::Pose" humanName="Pose" />
-        <Variant baseType="::armarx::FramedPoseBase" dataType="::armarx::FramedPose" humanName="FramedPose" />
-        <Variant baseType="::armarx::FramedDirectionBase" dataType="::armarx::FramedDirection" humanName="FramedDirection" />
-        <Variant baseType="::armarx::FramedPositionBase" dataType="::armarx::FramedPosition" humanName="FramedPosition" />
-        <Variant baseType="::armarx::FramedOrientationBase" dataType="::armarx::FramedOrientation" humanName="FramedOrientation" />
-        <Variant baseType="::armarx::LinkedPoseBase" dataType="::armarx::LinkedPose" humanName="LinkedPose" />
-        <Variant baseType="::armarx::LinkedDirectionBase" dataType="::armarx::LinkedDirection" humanName="LinkedDirection" />
-        <Variant baseType="::armarx::OrientedPointBase" dataType="::armarx::OrientedPoint" humanName="OrientedPoint" />
-        <Variant baseType="::armarx::FramedOrientedPointBase" dataType="::armarx::FramedOrientedPoint" humanName="FramedOrientedPoint" />
-        <Variant baseType="::armarx::TrajectoryBase" dataType="::armarx::Trajectory" humanName="Trajectory"/>
+        <Variant baseType="::armarx::Vector3Base" dataType="::armarx::Vector3" humanName="Vector3" include="RobotAPI/libraries/core/Pose.h" />
+        <Variant baseType="::armarx::QuaternionBase" dataType="::armarx::Quaternion" humanName="Quaternion" include="RobotAPI/libraries/core/Pose.h" />
+        <Variant baseType="::armarx::PoseBase" dataType="::armarx::Pose" humanName="Pose" include="RobotAPI/libraries/core/Pose.h" />
+        <Variant baseType="::armarx::FramedPoseBase" dataType="::armarx::FramedPose" humanName="FramedPose" include="RobotAPI/libraries/core/FramedPose.h" />
+        <Variant baseType="::armarx::FramedDirectionBase" dataType="::armarx::FramedDirection" humanName="FramedDirection" include="RobotAPI/libraries/core/FramedPose.h" />
+        <Variant baseType="::armarx::FramedPositionBase" dataType="::armarx::FramedPosition" humanName="FramedPosition" include="RobotAPI/libraries/core/FramedPose.h" />
+        <Variant baseType="::armarx::FramedOrientationBase" dataType="::armarx::FramedOrientation" humanName="FramedOrientation" include="RobotAPI/libraries/core/FramedPose.h" />
+        <Variant baseType="::armarx::LinkedPoseBase" dataType="::armarx::LinkedPose" humanName="LinkedPose" include="RobotAPI/libraries/core/LinkedPose.h" />
+        <Variant baseType="::armarx::LinkedDirectionBase" dataType="::armarx::LinkedDirection" humanName="LinkedDirection" include="RobotAPI/libraries/core/LinkedPose.h" />
+        <Variant baseType="::armarx::OrientedPointBase" dataType="::armarx::OrientedPoint" humanName="OrientedPoint" include="RobotAPI/libraries/core/OrientedPoint.h" />
+        <Variant baseType="::armarx::FramedOrientedPointBase" dataType="::armarx::FramedOrientedPoint" humanName="FramedOrientedPoint" include="RobotAPI/libraries/core/FramedOrientedPoint.h" />
+        <Variant baseType="::armarx::TrajectoryBase" dataType="::armarx::Trajectory" humanName="Trajectory"  include="RobotAPI/libraries/core/Trajectory.h"/>
     </Lib>
     <Lib name="RobotAPIInterfaces">
         <Proxy include="RobotAPI/interface/units/KinematicUnitInterface.h"
@@ -29,7 +29,9 @@
             memberName="kinematicUnitObserver"
             getterName="getKinematicUnitObserver"
             propertyName="KinematicUnitObserverName"
-            propertyIsOptional="false" />
+            propertyIsOptional="false">
+            <include>ArmarXCore/observers/variant/DatafieldRef.h</include>
+        </Proxy>
         <Proxy include="RobotAPI/interface/units/PlatformUnitInterface.h"
             humanName="Platform Unit"
             typeName="PlatformUnitInterfacePrx"
@@ -44,7 +46,9 @@
             getterName="getPlatformUnitObserver"
             propertyName="PlatformUnitObserverName"
             propertyIsOptional="true"
-            propertyDefaultValue="PlatformUnitObserver" />
+            propertyDefaultValue="PlatformUnitObserver">
+            <include>ArmarXCore/observers/variant/DatafieldRef.h</include>
+        </Proxy>
         <Proxy include="RobotAPI/interface/units/InertialMeasurementUnit.h"
             humanName="Inertial Measurement Unit Observer"
             typeName="InertialMeasurementUnitObserverInterfacePrx"
@@ -68,7 +72,9 @@
             getterName="getForceTorqueObserver"
             propertyName="ForceTorqueUnitObserverName"
             propertyIsOptional="true"
-            propertyDefaultValue="ForceTorqueUnitObserver" />
+            propertyDefaultValue="ForceTorqueUnitObserver">
+            <include>ArmarXCore/observers/variant/DatafieldRef.h</include>
+        </Proxy>
         <Proxy include="RobotAPI/interface/units/TCPControlUnit.h"
             humanName="TCPControlUnit"
             typeName="TCPControlUnitInterfacePrx"

etc/cmake/ArmarXPackageVersion.cmake

 # armarx version file
 set(ARMARX_PACKAGE_LIBRARY_VERSION_MAJOR "0")
 set(ARMARX_PACKAGE_LIBRARY_VERSION_MINOR "9")
-set(ARMARX_PACKAGE_LIBRARY_VERSION_PATCH "1")
+set(ARMARX_PACKAGE_LIBRARY_VERSION_PATCH "2")
 
 set(ARMARX_PACKAGE_LIBRARY_VERSION "${ARMARX_PACKAGE_LIBRARY_VERSION_MAJOR}.${ARMARX_PACKAGE_LIBRARY_VERSION_MINOR}.${ARMARX_PACKAGE_LIBRARY_VERSION_PATCH}")
 

scenarios/GamepadControlUnit/GamepadControlUnit.scx

+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="GamepadControlUnit" lastChange="2017-03-10.11:31:35" creation="2017-03-10.11:31:30" globalConfigName="./config/global.cfg" package="RobotAPI">
+	<application name="GamepadControlUnitApp" instance="" package="RobotAPI"/>
+</scenario>
+

scenarios/GamepadControlUnit/config/GamepadControlUnitApp.cfg

+# ==================================================================
+# GamepadControlUnitApp 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.GamepadControlUnit.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadControlUnit.EnableProfiling = 0
+
+
+# ArmarX.GamepadControlUnit.GamepadTopicName:  Name of the Gamepad Topic
+#  Attributes:
+#  - Default:            GamepadValues
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadControlUnit.GamepadTopicName = GamepadValues
+
+
+# ArmarX.GamepadControlUnit.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadControlUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GamepadControlUnit.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadControlUnit.ObjectName = ""
+
+
+# ArmarX.GamepadControlUnit.PlatformUnitName:  Name of the platform unit to use
+#  Attributes:
+#  - Default:            Armar6IcePlatformUnit
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadControlUnit.PlatformUnitName = Armar6IcePlatformUnit
+
+
+# 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
+
+
+# Ice.Config:  Custom Property
+#  Attributes:
+#  - Default:            ::NOT_DEFINED::
+#  - Case sensitivity:   no
+#  - Required:           no
+# Ice.Config = ::NOT_DEFINED::
+
+

scenarios/GamepadControlUnit/config/global.cfg

+# ==================================================================
+# Global Config from Scenario GamepadControlUnit
+# ==================================================================
+
+
+
+

scenarios/GamepadUnit/GamepadUnit.scx

+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="GamepadUnit" lastChange="2017-03-20.19:33:52" creation="2017-03-09.11:59:13" globalConfigName="./config/global.cfg" package="RobotAPI">
+	<application name="GamepadUnitApp" instance="" package="RobotAPI"/>
+	<application name="GamepadUnitObserverApp" instance="" package="RobotAPI"/>
+	<application name="GamepadControlUnitApp" instance="" package="RobotAPI"/>
+</scenario>
+

scenarios/GamepadUnit/config/GamepadControlUnitApp.cfg

+# ==================================================================
+# GamepadControlUnitApp 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.GamepadControlUnit.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.EnableProfiling = 0
+
+
+# ArmarX.GamepadControlUnit.GamepadTopicName:  Name of the Gamepad Topic
+#  Attributes:
+#  - Default:            GamepadValues
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.GamepadTopicName = GamepadValues
+
+
+# ArmarX.GamepadControlUnit.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GamepadControlUnit.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.ObjectName = ""
+
+
+# ArmarX.GamepadControlUnit.PlatformUnitName:  Name of the platform unit to use
+#  Attributes:
+#  - Default:            Armar6IcePlatformUnit
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.PlatformUnitName = Armar6IcePlatformUnit
+
+
+# ArmarX.GamepadControlUnit.ScaleAngle:  scaling factor in radian per second
+#  Attributes:
+#  - Default:            1
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.ScaleAngle = -1
+
+
+# ArmarX.GamepadControlUnit.ScaleX:  scaling factor in mm per second
+#  Attributes:
+#  - Default:            1000
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.ScaleX = 500
+
+
+# ArmarX.GamepadControlUnit.ScaleY:  scaling factor in mm per second
+#  Attributes:
+#  - Default:            1000
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadControlUnit.ScaleY = -500
+
+
+# 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
+
+
+
+
+

scenarios/GamepadUnit/config/GamepadUnitApp.cfg

+# ==================================================================
+# GamepadUnitApp 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.GamepadUnit.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnit.EnableProfiling = 0
+
+
+# ArmarX.GamepadUnit.GamepadDeviceName:  device that will be opened as a gamepad
+#  Attributes:
+#  - Default:            /dev/input/js2
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.GamepadUnit.GamepadDeviceName = /dev/input/js0
+
+
+# ArmarX.GamepadUnit.GamepadTopicName:  Name of the Gamepad Topic
+#  Attributes:
+#  - Default:            GamepadValues
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnit.GamepadTopicName = GamepadValues
+
+
+# ArmarX.GamepadUnit.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnit.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GamepadUnit.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnit.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
+
+
+
+
+

scenarios/GamepadUnit/config/GamepadUnitObserverApp.cfg

+# ==================================================================
+# GamepadUnitObserverApp 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.GamepadUnitObserver.DebugDrawerTopic:  Name of the DebugDrawerTopic
+#  Attributes:
+#  - Default:            DebugDrawerUpdates
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnitObserver.DebugDrawerTopic = DebugDrawerUpdates
+
+
+# ArmarX.GamepadUnitObserver.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnitObserver.EnableProfiling = 0
+
+
+# ArmarX.GamepadUnitObserver.GamepadTopicName:  Name of the Gamepad Topic
+#  Attributes:
+#  - Default:            GamepadValues
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnitObserver.GamepadTopicName = GamepadValues
+
+
+# ArmarX.GamepadUnitObserver.MaxHistoryRecordFrequency:  The Observer history is written with this maximum frequency. Everything faster is being skipped.
+#  Attributes:
+#  - Default:            50
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnitObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.GamepadUnitObserver.MaxHistorySize:  Maximum number of entries in the Observer history
+#  Attributes:
+#  - Default:            5000
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnitObserver.MaxHistorySize = 5000
+
+
+# ArmarX.GamepadUnitObserver.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnitObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.GamepadUnitObserver.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.GamepadUnitObserver.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
+
+
+
+
+

scenarios/GamepadUnit/config/global.cfg

+# ==================================================================
+# Global Config from Scenario GamepadUnit
+# ==================================================================
+
+
+
+

scenarios/MetaWearIMU/MetaWearIMU.scx

+<?xml version="1.0" encoding="utf-8"?>
+<scenario name="MetaWearIMU" creation="2017-04-13.11:40:16" lastChange="2017-04-13.11:40:16" globalConfigName="./config/global.cfg" package="RobotAPI">
+	<application name="MetaWearIMUObserverApp" instance="" package="RobotAPI" enabled="true"/>
+	<application name="MetaWearIMUApp" instance="" package="RobotAPI" enabled="true"/>
+</scenario>
+

scenarios/MetaWearIMU/config/MetaWearIMUApp.cfg

+# ==================================================================
+# MetaWearIMUApp 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.MetaWearIMU.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMU.EnableProfiling = 0
+
+
+# ArmarX.MetaWearIMU.MetaWearPythonTopicName:  Name of the topic provided by the python driver
+#  Attributes:
+#  - Default:            MetaWearPythonData
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMU.MetaWearPythonTopicName = MetaWearPythonData
+
+
+# ArmarX.MetaWearIMU.MetaWearTopicName:  Name of the MetaWear topic
+#  Attributes:
+#  - Default:            MetaWearData
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMU.MetaWearTopicName = MetaWearData
+
+
+# ArmarX.MetaWearIMU.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMU.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MetaWearIMU.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMU.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
+
+
+# Ice.Config:  Custom Property
+#  Attributes:
+#  - Default:            ::NOT_DEFINED::
+#  - Case sensitivity:   no
+#  - Required:           no
+# Ice.Config = ::NOT_DEFINED::
+
+

scenarios/MetaWearIMU/config/MetaWearIMUObserverApp.cfg

+# ==================================================================
+# MetaWearIMUObserverApp 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.MetaWearIMUObserver.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.MetaWearIMUObserver.CreateUpdateFrequenciesChannel = 0
+
+
+# ArmarX.MetaWearIMUObserver.DebugDrawerTopic:  Name of the DebugDrawerTopic
+#  Attributes:
+#  - Default:            DebugDrawerUpdates
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMUObserver.DebugDrawerTopic = DebugDrawerUpdates
+
+
+# ArmarX.MetaWearIMUObserver.EnableProfiling:  enable profiler which is used for logging performance events
+#  Attributes:
+#  - Default:            0
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMUObserver.EnableProfiling = 0
+
+
+# ArmarX.MetaWearIMUObserver.MaxHistoryRecordFrequency:  The Observer history is written with this maximum frequency. Everything faster is being skipped.
+#  Attributes:
+#  - Default:            50
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMUObserver.MaxHistoryRecordFrequency = 50
+
+
+# ArmarX.MetaWearIMUObserver.MaxHistorySize:  Maximum number of entries in the Observer history
+#  Attributes:
+#  - Default:            5000
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMUObserver.MaxHistorySize = 5000
+
+
+# ArmarX.MetaWearIMUObserver.MetaWearTopicName:  Name of the MetaWear topic
+#  Attributes:
+#  - Default:            MetaWearData
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMUObserver.MetaWearTopicName = MetaWearData
+
+
+# ArmarX.MetaWearIMUObserver.MinimumLoggingLevel:  Local logging level only for this component
+#  Attributes:
+#  - Default:            Undefined
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMUObserver.MinimumLoggingLevel = Undefined
+
+
+# ArmarX.MetaWearIMUObserver.ObjectName:  Name of IceGrid well-known object
+#  Attributes:
+#  - Default:            ""
+#  - Case sensitivity:   no
+#  - Required:           no
+# ArmarX.MetaWearIMUObserver.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
+
+
+# Ice.Config:  Custom Property
+#  Attributes:
+#  - Default:            ::NOT_DEFINED::
+#  - Case sensitivity:   no
+#  - Required:           no
+# Ice.Config = ::NOT_DEFINED::
+
+

scenarios/MetaWearIMU/config/global.cfg

+# ==================================================================
+# Global Config from Scenario MetaWearIMU
+# ==================================================================
+
+
+
+

source/RobotAPI/applications/CMakeLists.txt

@@ -22,11 +22,17 @@ add_subdirectory(InertialMeasurementUnitObserver)
 
 add_subdirectory(ViewSelection)
 
+add_subdirectory(HokuyoLaserUnit)
+add_subdirectory(LaserScannerUnitObserver)
 add_subdirectory(OrientedTactileSensorUnit)
 add_subdirectory(OrientedTactileSensorUnitObserver)
 
 add_subdirectory(OptoForceUnit)
 add_subdirectory(OptoForceUnitObserver)
 
-add_subdirectory(HokuyoLaserUnit)
-add_subdirectory(LaserScannerUnitObserver)
+add_subdirectory(GamepadUnit)
+add_subdirectory(GamepadUnitObserver)
+add_subdirectory(GamepadControlUnit)
+
+add_subdirectory(MetaWearIMU)
+add_subdirectory(MetaWearIMUObserver)
\ No newline at end of file

source/RobotAPI/applications/CMakeLists.txt.orig

-add_subdirectory(ForceTorqueObserver)
-add_subdirectory(HeadIKUnit)
-add_subdirectory(TCPControlUnit)
-
-add_subdirectory(WeissHapticUnit)
-add_subdirectory(HapticObserver)
-
-
-add_subdirectory(RobotControl)
-add_subdirectory(RobotControlUI)
-add_subdirectory(KinematicUnitObserver)
-add_subdirectory(KinematicUnitSimulation)
-add_subdirectory(PlatformUnitSimulation)
-add_subdirectory(PlatformUnitObserver)
-add_subdirectory(RobotStateComponent)
-add_subdirectory(HandUnitSimulation)
-add_subdirectory(ForceTorqueUnitSimulation)
-
-
-add_subdirectory(XsensIMU)
-add_subdirectory(InertialMeasurementUnitObserver)
-
-add_subdirectory(ViewSelection)
-
-<<<<<<< HEAD
-add_subdirectory(OrientedTactileSensorUnit)
-
-add_subdirectory(OrientedTactileSensorUnitObserver)
-=======
-add_subdirectory(OptoForceUnit)
-
-add_subdirectory(OptoForceUnitObserver)
->>>>>>> master

source/RobotAPI/applications/GamepadControlUnit/CMakeLists.txt

+armarx_component_set_name("GamepadControlUnitApp")
+
+#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(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(COMPONENT_LIBS
+    ArmarXCoreInterfaces
+    ArmarXCore
+    GamepadControlUnit
+)
+
+set(EXE_SOURCE main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")

source/RobotAPI/applications/GamepadControlUnit/main.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::application::GamepadControlUnit
+ * @author     Simon Ottenhaus ( simon dot ottenhaus at kit dot edu )
+ * @date       2017
+ * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
+ *             GNU General Public License
+ */
+
+#include <RobotAPI/components/GamepadControlUnit/GamepadControlUnit.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::GamepadControlUnit > (argc, argv, "GamepadControlUnit");
+}

source/RobotAPI/applications/GamepadUnit/CMakeLists.txt

+armarx_component_set_name("GamepadUnitApp")
+
+#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(${MyLib_INCLUDE_DIRS})
+#endif()
+
+set(COMPONENT_LIBS
+    ArmarXCoreInterfaces
+    ArmarXCore
+    GamepadUnit
+)
+
+set(EXE_SOURCE main.cpp)
+
+armarx_add_component_executable("${EXE_SOURCE}")