RobotStateComponent: fixing reportGlobalRobotPose

source/RobotAPI/components/RobotState/RobotStateComponent.cpp

@@ -350,13 +350,13 @@ namespace armarx
         if (_synchronized)
         {
             std::string localRobotName = _synchronized->getName();
-            ARMARX_DEBUG << "Comparing " << localRobotName << " and " << robotName << ".";
-            if (localRobotName == robotName)
+            ARMARX_DEBUG << "Comparing " << localRobotName << " and " << globalRobotPose.header.agent << ".";
+            if (localRobotName == globalRobotPose.header.agent)
             {
                 const IceUtil::Time time = IceUtil::Time::microSeconds(globalRobotPose.header.timestampInMicroSeconds);
 
-                insertPose(time, pose);
-                _synchronized->setGlobalPose(pose);
+                insertPose(time, globalRobotPose.transform);
+                _synchronized->setGlobalPose(globalRobotPose.transform);
 
                 if (_sharedRobotServant)
                 {