Merge remote-tracking branch 'origin/master'

source/RobotAPI/components/units/RobotUnit/util/RtTiming.h

@@ -29,13 +29,13 @@
 
 namespace armarx
 {
+
     inline IceUtil::Time
     rtNow()
     {
-        return IceUtil::Time::now(IceUtil::Time::Monotonic);
-        //        using namespace std::chrono;
-        //        auto epoch = time_point_cast<microseconds>(high_resolution_clock::now()).time_since_epoch();
-        //        return IceUtil::Time::microSeconds(duration_cast<milliseconds>(epoch).count());
+        struct timespec ts;
+        clock_gettime(CLOCK_MONOTONIC, &ts);
+        return IceUtil::Time::microSeconds(ts.tv_sec * 1e6 + ts.tv_nsec / 1000);
     }
 } // namespace armarx
 
@@ -43,9 +43,8 @@ namespace armarx
 //! \ingroup VirtualTime
 //! Prints duration with comment in front of it, yet only once per second.
 #define RT_TIMING_END_COMMENT(name, comment)                                                       \
-    ARMARX_RT_LOGF_INFO("%s - duration: %.3f ms",                                                  \
-                        comment,                                                                   \
-                        IceUtil::Time(armarx::rtNow() - name).toMilliSecondsDouble())              \
+    ARMARX_RT_LOGF_INFO(                                                                           \
+        "%s - duration: %.3f ms", comment, (armarx::rtNow() - name).toMilliSecondsDouble())        \
         .deactivateSpam(1);
 //! \ingroup VirtualTime
 //! Prints duration
@@ -53,7 +52,7 @@ namespace armarx
 //! \ingroup VirtualTime
 //! Prints duration with comment in front of it if it took longer than threshold
 #define RT_TIMING_CEND_COMMENT(name, comment, thresholdMs)                                         \
-    if ((armarx::rtNow() - name).toMilliSecondsDouble() >= thresholdMs)                            \
+    if ((armarx::rtNow() - name).toMicroSeconds() >= thresholdMs)                                  \
     RT_TIMING_END_COMMENT(name, comment)
 //! \ingroup VirtualTime
 //! Prints duration if it took longer than thresholdMs

source/RobotAPI/libraries/armem_locations/client/Reader.cpp

@@ -65,7 +65,7 @@ namespace armarx::armem::locations::client
                     if (i)
                       {
                       auto loc = i->dataAs<armarx::navigation::location::arondto::Location>();
-                      ret[i->id().entityName] = loc;
+                      ret[i->id().providerSegmentName + "/" + i->id().entityName] = loc;
                     }
                   });
             return ret;
@@ -83,6 +83,7 @@ namespace armarx::armem::locations::client
 
         for (auto& [locName, location] : locations)
         {
+            (void) locName;
             if (location.framedPose.header.frame == armarx::GlobalFrame)
             {
                 location.framedPose.header.agent = ""; //sanity set

source/RobotAPI/libraries/armem_objects/client/instance/ObjectReader.cpp

@@ -88,7 +88,13 @@ namespace armarx::armem::obj::instance
 
         auto requestResult = objPoseStorage->requestObjects(req);
 
-        return requestResult.results.at(requestObject).result.success;
+        if (requestResult.results.count(requestObject))
+        {
+            return requestResult.results.at(requestObject).result.success;
+        }
+        return false;
+
+
     }
 
     std::optional<objpose::ObjectPose>