From dba114c07b39578adfb0e9ed96625f0d8b765b2c Mon Sep 17 00:00:00 2001
From: Fabian Reister <fabian.reister@kit.edu>
Date: Wed, 8 Jun 2022 14:42:05 +0200
Subject: [PATCH] ObjectMemory: minor checks
---
.../components/armem/server/ObjectMemory/ObjectMemory.cpp | 6 ++++--
1 file changed, 4 insertions(+), 2 deletions(-)
diff --git a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
index f60377622..c2a37675f 100644
--- a/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
+++ b/source/RobotAPI/components/armem/server/ObjectMemory/ObjectMemory.cpp
@@ -141,14 +141,16 @@ namespace armarx::armem::server::obj
// : RobotState::addRobot(robotKey, VirtualRobot::RobotIO::RobotDescription::eStructure);
// TODO: the instance segment should check the provided object poses and instantiate the needed robots by itself.
- VirtualRobot::RobotPtr robot = virtualRobotReaderPlugin->get().getSynchronizedRobot(robotName, armarx::Clock::Now());
+ ARMARX_CHECK_NOT_NULL(virtualRobotReaderPlugin);
+
+ VirtualRobot::RobotPtr robot = virtualRobotReaderPlugin->get().getSynchronizedRobot(robotName, armarx::Clock::Now(), VirtualRobot::RobotIO::RobotDescription::eStructure, true);
+ ARMARX_CHECK_NOT_NULL(robot);
getProxyFromProperty(kinematicUnitObserver, "cmp.KinematicUnitObserverName", false, "", false);
// Create first to use the original values.
createRemoteGuiTab();
- ARMARX_CHECK_NOT_NULL(virtualRobotReaderPlugin);
// ARMARX_CHECK(virtualRobotReaderPlugin->isAvailable());
instance::SegmentAdapter::connect(
--
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