Merge branch 'skills/dev' into fabianpk

# Conflicts:
#	source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp

source/RobotAPI/libraries/armem_skills/CMakeLists.txt

@@ -13,6 +13,7 @@ armarx_add_library(
         RobotAPI::armem_server
         RobotAPI::skills
         aronjsonconverter
+        aroncommonconverter
     SOURCES  
         ./aron_conversions.cpp
 

source/RobotAPI/libraries/armem_skills/aron/Skill.xml

@@ -31,11 +31,11 @@ The memory should look like the following:
             </ObjectChild>
 
             <ObjectChild key='timeoutMs'>
-                <long />
+                <int64 />
             </ObjectChild>
 
             <ObjectChild key='acceptedType'>
-                <string /> <!-- TODO REPLACE! -->
+                <AnyObject shared_ptr="1" />
             </ObjectChild>
 
         </Object>

source/RobotAPI/libraries/armem_skills/server/segment/ExecutableSkillLibrarySegment.cpp

@@ -4,6 +4,7 @@
 #include <SimoxUtility/algorithm/string.h>
 
 #include <RobotAPI/libraries/aron/converter/json/NLohmannJSONConverter.h>
+#include <RobotAPI/libraries/aron/converter/common/DatatypeConverter.h>
 
 #include <RobotAPI/libraries/armem_skills/aron/Skill.aron.generated.h>
 
@@ -43,13 +44,19 @@ namespace armarx::skills::segment
             if (desc.acceptedType)
             {
                 auto t = aron::type::Object::FromAronObjectDTO(desc.acceptedType);
-                skillDescription.acceptedType = aron::converter::AronNlohmannJSONConverter::ConvertToNlohmannJSON(t).dump(2);
+
+                aron::converter::DatatypeConverter c;
+                aron::type::visit(c, t);
+
+                skillDescription.acceptedType = aron::data::Dict::DynamicCastAndCheck(c.latest);
             }
 
             armem::Commit commit;
             auto& entityUpdate = commit.add();
             entityUpdate.confidence = 1.0;
             entityUpdate.referencedTime = armem::Time::Now();
+            entityUpdate.sentTime = armem::Time::Now();
+            entityUpdate.arrivedTime = armem::Time::Now();
             entityUpdate.instancesData = {skillDescription.toAron()};
             entityUpdate.entityID = provId.withEntityName(skillDescription.skillName);