improve armarx::rtNow to use CLOCK_MONOTONIC_RAW

Signed-off-by: ARMAR-DE <>

source/RobotAPI/components/units/RobotUnit/util/RtTiming.h

@@ -40,7 +40,7 @@ namespace armarx
     {
         using namespace rt_timing::constants;
         struct timespec ts;
-        clock_gettime(CLOCK_MONOTONIC, &ts);
+        clock_gettime(CLOCK_MONOTONIC_RAW, &ts);
         return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
                                            ts.tv_nsec / nanoSeconds2MicroSeconds);
     }
@@ -50,9 +50,8 @@ namespace armarx
 //! \ingroup VirtualTime
 //! Prints duration with comment in front of it, yet only once per second.
 #define RT_TIMING_END_COMMENT(name, comment)                                                       \
-    ARMARX_RT_LOGF_INFO(                                                                           \
-        "%s - duration: %.3f ms", comment, (armarx::rtNow() - name).toMilliSecondsDouble())        \
-        .deactivateSpam(1);
+    printf(                                                                           \
+        "%s - duration: %.3f ms \n", comment, (armarx::rtNow() - name).toMilliSecondsDouble());
 //! \ingroup VirtualTime
 //! Prints duration
 #define RT_TIMING_END(name) RT_TIMING_END_COMMENT(name, #name)