fixed root "node"

source/RobotAPI/libraries/armem_robot_state/client/common/RobotReader.cpp

@@ -207,7 +207,7 @@ namespace armarx::armem::robot_state
 
         common::robot_state::localization::TransformQuery query{
             .header = {.parentFrame = OdometryFrame,
-                       .frame = "root",
+                       .frame = constants::robotRootNodeName,
                        .agent = description.name,
                        .timestamp = timestamp}};
 
@@ -339,7 +339,7 @@ namespace armarx::armem::robot_state
     {
         try
         {
-            const auto result = transformReader.getGlobalPose(description.name, "root", timestamp);
+            const auto result = transformReader.getGlobalPose(description.name, constants::robotRootNodeName, timestamp);
             if (not result)
             {
                 return std::nullopt;

source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotWriter.cpp

@@ -16,6 +16,8 @@
 #include "RobotAPI/libraries/armem/core/forward_declarations.h"
 #include "RobotAPI/libraries/armem_robot/types.h"
 
+#include "constants.h"
+
 
 namespace armarx::armem::robot_state
 {
@@ -70,8 +72,10 @@ namespace armarx::armem::robot_state
                                                robot::RobotState::Pose(robot.getGlobalPose()),
                                            .jointMap = robot.getJointValues()};
 
-        return RobotWriter::storeState(
-            robotState, robot.getType(), robot.getName(), robot.getRootNode()->getName());
+        return RobotWriter::storeState(robotState,
+                                       robot.getType(),
+                                       robot.getName(),
+                                       constants::robotRootNodeName /*robot.getRootNode()->getName()*/);
     }
 
 

source/RobotAPI/libraries/armem_robot_state/client/common/VirtualRobotWriter.h

@@ -54,7 +54,7 @@ namespace armarx::armem::robot_state
 
 
         [[nodiscard]] bool storeState(const VirtualRobot::Robot& robot,
-                                      const armem::Time& timestamp = armem::Time::Invalid());
+                                      const armem::Time& timestamp);
     };
 
 } // namespace armarx::armem::robot_state

source/RobotAPI/libraries/armem_robot_state/client/common/constants.h

@@ -31,4 +31,7 @@ namespace armarx::armem::robot_state::constants
 
     inline const std::string descriptionEntityName = "description";
 
+
+    inline const std::string robotRootNodeName = "root";
+
 } // namespace armarx::armem::robot_state::constants