transform writer: some checks

source/RobotAPI/libraries/armem_robot_state/client/localization/TransformWriter.cpp

@@ -21,6 +21,7 @@
  */
 
 #include "TransformWriter.h"
+#include "RobotAPI/libraries/armem/core/MemoryID.h"
 
 #include <algorithm>
 #include <iterator>
@@ -46,6 +47,7 @@
 
 #include <RobotAPI/libraries/armem_robot_state/aron/Transform.aron.generated.h>
 #include <RobotAPI/libraries/armem_robot_state/aron_conversions.h>
+#include <optional>
 
 
 namespace armarx::armem::client::robot_state::localization
@@ -89,21 +91,36 @@ namespace armarx::armem::client::robot_state::localization
 
         ARMARX_DEBUG << "Trying to create core segment + provider segment";
 
-        const auto result =
-            memoryWriter.addSegment(properties.localizationSegment, transform.header.agent);
-
-        if (not result.success)
+        const auto providerId = [&]() -> std::optional<armem::MemoryID>
+        {
+            try
+            {
+                const auto result =
+                memoryWriter.addSegment(properties.localizationSegment, transform.header.agent);
+
+                if (not result.success)
+                {
+                    ARMARX_WARNING << "Could not obtain provider id! Reason: " <<  result.errorMessage;
+                    return std::nullopt;
+                }
+
+                return armem::MemoryID(result.segmentID);
+            }
+            catch (...)
+            {
+                ARMARX_WARNING << "Could not obtain provider id!";
+                return std::nullopt;
+            }
+        }();
+
+        if (not providerId)
         {
-            ARMARX_ERROR << result.errorMessage;
-
-            // TODO(fabian.reister): message
             return false;
         }
 
         const auto timestamp = IceUtil::Time::microSeconds(transform.header.timestamp);
 
-        const auto providerId = armem::MemoryID(result.segmentID);
-        const auto entityID   = providerId.withEntityName(transform.header.parentFrame + "," +
+        const auto entityID   = providerId->withEntityName(transform.header.parentFrame + "," +
                                 transform.header.frame).withTimestamp(timestamp);
 
         armem::EntityUpdate update;