Merge branch 'master' into armem/dev

# Conflicts:
#	source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp

source/RobotAPI/libraries/armem/client/util/SimpleWriterBase.cpp

@@ -24,7 +24,9 @@ namespace armarx::armem::client::util
         def->optional(props.memoryName, prefix + "Memory");
         def->optional(props.coreSegmentName, prefix + "CoreSegment");
 
-        def->required(props.providerName,
+        // TODO(fabian.reister): this might also be part of the subclass
+        //  if the provider name has to be derived from e.g. the component name
+        def->optional(props.providerName,
                       prefix + "Provider",
                       "Name of this provider");
     }

source/RobotAPI/libraries/armem_robot_state/server/localization/Segment.cpp

@@ -119,7 +119,8 @@ namespace armarx::armem::server::robot_state::localization
         {
             TransformQuery query
             {
-                .header{
+                .header =
+                {
                     .parentFrame = GlobalFrame,
                     .frame       = "root", // TODO, FIXME
                     .agent       = robotName,