Merge branch 'fix/robotunit-timestamps' into 'master'

Resolve "components/RobotUnitSimulation: Wrong timestamps in 'RobotState/Proprioception'-memory"

Closes #26

See merge request !69

source/ArmarXSimulation/components/RobotUnitSimulation/RobotUnitSimulation.cpp

@@ -642,7 +642,11 @@ void RobotUnitSimulation::rtUpdateSensors(bool wait)
     }
 
     // This should be the timestamp from the time where the data was queried
-    const IceUtil::Time now = TimeUtil::GetTime();
+    // We have to use armarx::rtNow() now because of changes in the framework to assess the timestamp in 
+    // a realtime-conform way (using MONOTONIC_RAW clock, which is the time difference since last boot).
+    // This probably breaks simulation speeds faster than realtime, but this feature probably was broken
+    // before anyways.  See https://git.h2t.iar.kit.edu/sw/armarx/armarx-simulation/-/issues/26.
+    const IceUtil::Time now = armarx::rtNow();
     //const IceUtil::Time now = IceUtil::Time::microSeconds(simulationDataTimestampInMicroSeconds);
     const IceUtil::Time timeSinceLastIteration = now - sensorValuesTimestamp;
     const float dt = static_cast<float>(timeSinceLastIteration.toSecondsDouble());