fix: moving query description inside loop. otherwise, the timestamp will never be updated

source/armarx/navigation/components/dynamic_distance_to_obstacle_costmap_provider/Component.cpp

@@ -174,13 +174,14 @@ namespace armarx::navigation::components::dynamic_distance_to_obstacle_costmap_p
     bool
     Component::readStaticCostmap()
     {
-        const memory::client::costmap::Reader::Query query{
-            .providerName = properties.staticCostmap.providerName,
-            .name = properties.staticCostmap.name,
-            .timestamp = armarx::core::time::Clock::Now()};
 
         while (true)
         {
+            const memory::client::costmap::Reader::Query query{
+                .providerName = properties.staticCostmap.providerName,
+                .name = properties.staticCostmap.name,
+                .timestamp = armarx::core::time::Clock::Now()};
+
             const auto result = costmapReader.query(query);
 
             if (result.costmap.has_value())

source/armarx/navigation/server/scene_provider/SceneProvider.cpp

@@ -84,10 +84,6 @@ namespace armarx::navigation::server::scene_provider
         ARMARX_INFO << objects->getSize() << " objects in the scene";
 
         ARMARX_INFO << "Retrieving costmap in memory";
-        const memory::client::costmap::Reader::Query query{.providerName =
-                                                               config.staticCostmapProviderName,
-                                                           .name = config.staticCostmapName,
-                                                           .timestamp = armarx::Clock::Now()};
 
         ARMARX_TRACE;
 
@@ -96,10 +92,17 @@ namespace armarx::navigation::server::scene_provider
             // waiting for static costmap to become available
             while (true)
             {
+                const memory::client::costmap::Reader::Query query{
+                    .providerName = config.staticCostmapProviderName,
+                    .name = config.staticCostmapName,
+                    .timestamp = armarx::Clock::Now()};
+
+
                 if (const memory::client::costmap::Reader::Result costmap =
                         srv.costmapReader->query(query))
                 {
                     ARMARX_CHECK(costmap.costmap.has_value());
+                    ARMARX_INFO << "Static costmap available.";
                     return costmap.costmap.value();
                 }