Merge remote-tracking branch 'origin/Ice3.7' into InverseDynamicsIce3.7

.../RobotAPI/components/DebugDrawer/DebugDrawerComponent.cpp

source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.cpp

source/RobotAPI/components/DebugDrawer/DebugDrawerHelper.h

...I/components/units/RobotUnit/test/BasicControllerTest.cpp

...ce/RobotAPI/drivers/WeissHapticSensor/WeissHapticUnit.cpp

...s/DebugDrawerViewer/DebugDrawerViewerWidgetController.cpp

...ui-plugins/KinematicUnitPlugin/KinematicUnitGuiPlugin.cpp

...obotUnitPlugin/QWidgets/NJointControllerClassesWidget.cpp

...lugin/RobotUnitPlugin/RobotUnitPluginWidgetController.cpp

...PI/gui-plugins/RobotViewerPlugin/RobotViewerGuiPlugin.cpp

source/RobotAPI/libraries/ArmarXEtherCAT/EtherCATRTUnit.cpp

source/RobotAPI/libraries/core/CMakeLists.txt

...obotAPI/libraries/core/visualization/DebugDrawerTopic.cpp

.../RobotAPI/libraries/core/visualization/DebugDrawerTopic.h