robot state memory: using new waiting modality

source/RobotAPI/components/armem/server/RobotStateMemory/RobotStateMemory.cpp

@@ -130,6 +130,10 @@ namespace armarx::armem::server::robot_state
 
     void RobotStateMemory::onConnectComponent()
     {
+        waitUntilRobotUnitIsRunning();
+
+        ARMARX_CHECK_NOT_NULL(getRobotUnit()->getKinematicUnit());
+
         descriptionSegment.connect(getArvizClient(), getRobotUnit());
 
         proprioceptionSegment.connect(getArvizClient(), getRobotUnit());