Add method to get global robot pose to RobotStateMemory

Tested it with Python; it works and throws a useful exception if invalid robot name is given ;-)

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

@@ -189,15 +189,16 @@ namespace armarx::armem::server::robot_state
     }
 
 
-    armarx::PoseBasePtr RobotStateMemory::getGlobalRobotPose(Ice::Long timestamp, const std::string& robotName, const ::Ice::Current& /*unused*/)
+    armarx::PoseBasePtr RobotStateMemory::getGlobalRobotPose(Ice::Long timestamp_us, const std::string& robotName, const ::Ice::Current& /*unused*/)
     {
-        auto poseMap = localizationSegment.getRobotGlobalPoses(armem::Time::microSeconds(timestamp));
-        
-        ARMARX_DEBUG << "Getting robot pose of robot " << robotName << " at timestamp " << armem::Time::microSeconds(timestamp);
+        auto timestamp = armem::Time::microSeconds(timestamp_us);
+        ARMARX_DEBUG << "Getting robot pose of robot " << robotName << " at timestamp " << timestamp << ".";
 
+        auto poseMap = localizationSegment.getRobotGlobalPoses(timestamp);
+        
         bool robotNameFound = simox::alg::contains_key(poseMap, robotName);
         ARMARX_CHECK(robotNameFound)
-            << "Robot with name " << robotName << " does not exist. "
+            << "Robot with name " << robotName << " does not exist at or before timestamp " << timestamp << ".\n"
             << "Available robots are: " << simox::alg::get_keys(poseMap);
 
         return new Pose(poseMap[robotName].matrix());