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RobotUnit with global robot pose information

Fabian Reister requested to merge feature/robot-unit-with-global-robot-pose-information into master

Until now, the virtual robot that is available in the njoint controllers did not provide the robot's global pose. There exists a workaround to set the global-to-odom transformation via an Ice interface but imho the global pose should be available natively.

The changes are as follows:

  • a new device and corresponding sensor value are now available. The platform unit now has an additional topic subscription to retrieve the global-to-odom transformation from SLAM, e.g. the cartographer. Once such a transformation is received, it is stored in a triple buffer and copied over in the RT thread.
  • the virtual robot that is available in the njoint controllers now has the correct information about the robot's global pose

ToDo:

  • Test on ARMAR-6

Further changes: (PRs coming soon)

Edited by Fabian Reister

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