Handle non-existent provider segment

source/RobotAPI/components/ObjectPoseObserver/ObjectPoseObserver.cpp

@@ -199,7 +199,12 @@ namespace armarx
             }
 
             // This stays empty on the first report.
-            const armem::ProviderSegment& providerSegment = data.getCoreSegment().getProviderSegment(providerName);
+            const armem::CoreSegment& coreSegment = data.getCoreSegment();
+            armem::ProviderSegment const* providerSegment = nullptr;
+            if (coreSegment.hasProviderSegment(providerName))
+            {
+                providerSegment = &coreSegment.getProviderSegment(providerName);
+            }
 
             // Build new poses.
             objpose::ObjectPoseSeq newObjectPoses;
@@ -211,9 +216,9 @@ namespace armarx
                 // Check whether we have an old pose for this object.
                 std::optional<objpose::ObjectPose> previousPose;
                 const std::string entityName = fromIce(provided.objectID).str();
-                if (providerSegment.hasEntity(entityName))
+                if (providerSegment && providerSegment->hasEntity(entityName))
                 {
-                    const armem::Entity& entity = providerSegment.getEntity(entityName);
+                    const armem::Entity& entity = providerSegment->getEntity(entityName);
                     const objpose::arondto::ObjectPose data = objpose::observer::Data::getLatestInstanceData(entity);
 
                     previousPose = objpose::ObjectPose();