tested on ARMAR-DE

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotStateWriter.cpp

@@ -89,6 +89,8 @@ namespace armarx::armem::server::robot_state::proprioception
 
                 // Proprioception + Exteroception
                 armem::CommitResult resultProprioception = memory.commitLocking(update.proprioception);
+
+                ARMARX_INFO << VAROUT(update.exteroception.updates.size());
                 armem::CommitResult resultExteroception = memory.commitLocking(update.exteroception);
                 endProprioception = std::chrono::high_resolution_clock::now();
 
@@ -151,24 +153,27 @@ namespace armarx::armem::server::robot_state::proprioception
         // Send batch to memory
         Update update;
 
-        {
+        if(data.proprioception){
             armem::EntityUpdate& up = update.proprioception.add();
             up.entityID = properties.robotUnitProviderID.withEntityName(
                 properties.robotUnitProviderID.providerSegmentName);
+            up.entityID.coreSegmentName =::armarx::armem::robot_state::constants::proprioceptionCoreSegment;
             up.timeCreated = data.timestamp;
             up.instancesData = {data.proprioception};
         }
 
         // Exteroception
-        {
+        if(data.exteroception){
             armem::EntityUpdate& up = update.exteroception.add();
             up.entityID = properties.robotUnitProviderID.withEntityName(
                 properties.robotUnitProviderID.providerSegmentName);
+            up.entityID.coreSegmentName = ::armarx::armem::robot_state::constants::exteroceptionCoreSegment;
             up.timeCreated = data.timestamp;
             up.instancesData = {data.exteroception};
         }
 
         // Extract odometry data.
+        ARMARX_CHECK_NOT_NULL(data.proprioception);
         const std::string platformKey = "platform";
         if (data.proprioception->hasElement(platformKey))
         {

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.cpp

@@ -24,15 +24,23 @@ namespace armarx::armem::server::robot_state::proprioception
                              const std::string& robotTypeName)
     {
         {
-            converterProprioception = converterRegistry.get(robotTypeName);
+            converterProprioception = proprioceptionConverterRegistry.get(robotTypeName);
             ARMARX_CHECK_NOT_NULL(converterProprioception)
                 << "No converter for robot type '" << robotTypeName << "' available. \n"
-                << "Known are: " << converterRegistry.getKeys();
+                << "Known are: " << proprioceptionConverterRegistry.getKeys();
 
             config.loggingNames.push_back(properties.sensorPrefix);
             receiver = robotUnitPlugin.startDataStreaming(config);
             description = receiver->getDataDescription();
         }
+
+        {
+            converterExteroception = exteroceptionConverterRegistry.get(robotTypeName);
+            ARMARX_CHECK_NOT_NULL(converterProprioception)
+                << "No converter for robot type '" << robotTypeName << "' available. \n"
+                << "Known are: " << exteroceptionConverterRegistry.getKeys();
+        }
+
         {
             // Thread-local copy of debug observer helper.
             debugObserver = DebugObserverHelper(

source/RobotAPI/libraries/armem_robot_state/server/proprioception/RobotUnitReader.h

@@ -72,7 +72,8 @@ namespace armarx::armem::server::robot_state::proprioception
         RobotUnitDataStreamingReceiverPtr receiver;
         RobotUnitDataStreaming::DataStreamingDescription description;
 
-        ConverterRegistry converterRegistry;
+        ConverterRegistry proprioceptionConverterRegistry;
+        exteroception::ConverterRegistry exteroceptionConverterRegistry;
         proprioception::ConverterInterface* converterProprioception = nullptr;
         exteroception::ConverterInterface* converterExteroception = nullptr;