fix error in location reader to gezt locations in global frame

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

@@ -52,18 +52,22 @@ namespace armarx::armem::locations::client
     std::map<std::string, armarx::navigation::location::arondto::Location>
     Reader::getAllLocations()
     {
-        auto mId = armarx::armem::MemoryID{p.memoryName, "Locations"};
+        auto mId = armarx::armem::MemoryID{p.memoryName, "Location"};
         auto res = locationReader.getLatestSnapshotsIn(mId);
 
         if (res.success)
         {
             std::map<std::string, armarx::navigation::location::arondto::Location> ret;
-            res.memory.forEachInstance(
-                [&ret](const armarx::armem::wm::EntityInstance& i)
+            res.memory.forEachEntity(
+                [&ret](const armarx::armem::wm::Entity& e)
                 {
-                    auto loc = i.dataAs<armarx::navigation::location::arondto::Location>();
-                    ret[i.id().entityName] = loc;
-                });
+                    auto i = e.findLatestInstance();
+                    if (i)
+                      {
+                      auto loc = i->dataAs<armarx::navigation::location::arondto::Location>();
+                      ret[i->id().entityName] = loc;
+                    }
+                  });
             return ret;
         }
 

source/RobotAPI/libraries/armem_locations/frame_conversions.h

@@ -37,7 +37,7 @@ namespace armarx::armem::locations
             return;
         }
 
-        if (simox::alg::starts_with(framedLoc.framedPose.header.agent, objPose.objectID.str()))
+        if (simox::alg::starts_with(objPose.objectID.str(), framedLoc.framedPose.header.agent))
         {
             ARMARX_CHECK(framedLoc.framedPose.header.frame ==
                          "root"); // TODO: Right now we only allow root