Fix prediction errors in ObjectMemory

source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp

@@ -251,7 +251,7 @@ namespace armarx::armem::server::obj
                 if (objPoseResult.success)
                 {
                     armem::client::QueryBuilder builder;
-                    builder.singleEntitySnapshot(boRequest.snapshotID);
+                    builder.latestEntitySnapshot(boRequest.snapshotID);
                     auto queryResult = armarx::fromIce<armem::client::QueryResult>(
                         query(builder.buildQueryInputIce()));
                     std::string instanceError =
@@ -263,11 +263,12 @@ namespace armarx::armem::server::obj
                     }
                     else
                     {
-                        auto* aronInstance = queryResult.memory.findInstance(boRequest.snapshotID);
+                        auto* aronInstance = queryResult.memory.findLatestInstance(
+                            boRequest.snapshotID, boRequest.snapshotID.instanceIndex);
                         if (aronInstance == nullptr)
                         {
                             result.success = false;
-                            result.errorMessage << instanceError;
+                            result.errorMessage << instanceError << ": No latest instance found.";
                         }
                         else
                         {

source/RobotAPI/libraries/armem/core/Prediction.cpp

@@ -120,7 +120,14 @@ namespace armarx::armem
         ice.success = result.success;
         ice.errorMessage = result.errorMessage;
         toIce(ice.snapshotID, result.snapshotID);
-        ice.prediction = result.prediction->toAronDictDTO();
+        if (result.prediction)
+        {
+            ice.prediction = result.prediction->toAronDictDTO();
+        }
+        else
+        {
+            ice.prediction = nullptr;
+        }
     }
 
     void