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

Fixes components/RobotUnitSimulation: Wrong timestamp... (#26 - closed)

Fixes the issue by setting the timestamps using the system's raw monotonic clock with armarx::rtNow(), as expected by the used RobotAPI code.

This is inconsistent with the rest of the RobotUnitSimulation-component, which exclusively uses the system's realtime or the time provided by a timeserver, but consistent with the timestamps set by the real-robot units.

I don't expect this to break anything (at least as long as the timeserver-functionality isn't used), as this change just adapts the behavior of the simulated RobotUnits to match the (correct) behavior of the real-robot RobotUnits.

assigned to @uyrdb_dormanns

added 64 commits

• c189a295...3b1c2a89 - 63 commits from branch master
• f64ecc84 - Use monotonic timestamp as assumed by RobotAPI's RobotUnitModuleLogging

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changed the description

marked this merge request as ready

requested review from @dreher

resolved all threads

added 1 commit

• 66262f81 - Add note about why changes with armarx::rtNow where necessary

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Great, thanks a lot!

approved this merge request

merged

mentioned in commit 165457f2

mentioned in merge request sw/armarx/skills/control!53 (merged)