fix version warning and add new variant of addOrUpdateNode

include/spark_dsg/dynamic_scene_graph.h

@@ -225,6 +225,20 @@ class DynamicSceneGraph {
                    NodeId node_id,
                    std::unique_ptr<NodeAttributes>&& attrs);
 
+  /**
+   * @brief add a node to the graph or update an existing node
+   *
+   * @param layer layer to add to
+   * @param node_id node to add
+   * @param attrs attributes to add
+   * @param partition to add to
+   * @return true if the node was added or updated successfully
+   */
+  bool addOrUpdateNode(const std::string& layer,
+                       NodeId node_id,
+                       std::unique_ptr<NodeAttributes>&& attrs,
+                       PartitionId partition = 0);
+
   /**
    * @brief add a node to the graph or update an existing node
    *

src/dynamic_scene_graph.cpp

@@ -248,6 +248,18 @@ bool DynamicSceneGraph::emplaceNode(const std::string& layer,
   return emplaceNode(iter->second, node_id, std::move(attrs), partition);
 }
 
+bool DynamicSceneGraph::addOrUpdateNode(const std::string& layer,
+                                        NodeId node_id,
+                                        std::unique_ptr<NodeAttributes>&& attrs,
+                                        PartitionId partition) {
+  auto iter = layer_names_.find(layer);
+  if (iter == layer_names_.end()) {
+    return false;
+  }
+
+  return addOrUpdateNode(iter->second, node_id, std::move(attrs), partition);
+}
+
 bool DynamicSceneGraph::addOrUpdateNode(LayerId layer_id,
                                         NodeId node_id,
                                         std::unique_ptr<NodeAttributes>&& attrs,

src/node_attributes.cpp

@@ -439,8 +439,9 @@ void AgentNodeAttributes::serialization_info() {
 
   const auto& header = io::GlobalInfo::loadedHeader();
   if (header.version >= io::Version(1, 1, 0)) {
-    io::warnOutdatedHeader(header);
     serialization::field("timestamp", timestamp);
+  } else {
+    io::warnOutdatedHeader(header);
   }
 
   serialization::field("world_R_body", world_R_body);