Merge branch 'master' of https://gitlab.com/ArmarX/RobotAPI

source/RobotAPI/components/units/HeadIKUnit.cpp

@@ -158,7 +158,7 @@ namespace armarx
 
         }
 
-        ARMARX_DEBUG << "new Head target set: " << *globalTarget;
+        ARMARX_DEBUG << "new Head target set: " << *globalTarget << " for " << robotNodeSetName;
 
         newTargetSet = true;
     }

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

@@ -31,9 +31,10 @@ namespace armarx
 {
     inline IceUtil::Time rtNow()
     {
-        using namespace std::chrono;
-        auto epoch = time_point_cast<microseconds>(high_resolution_clock::now()).time_since_epoch();
-        return IceUtil::Time::microSeconds(duration_cast<milliseconds>(epoch).count());
+        return IceUtil::Time::now(IceUtil::Time::Monotonic);
+        //        using namespace std::chrono;
+        //        auto epoch = time_point_cast<microseconds>(high_resolution_clock::now()).time_since_epoch();
+        //        return IceUtil::Time::microSeconds(duration_cast<milliseconds>(epoch).count());
     }
 }
 

source/RobotAPI/libraries/RobotAPINJointControllers/CMakeLists.txt

@@ -7,7 +7,7 @@ find_package(Eigen3 QUIET)
 find_package(Simox ${ArmarX_Simox_VERSION} QUIET)
 find_package(DMP QUIET)
 find_package(MMMCore QUIET)
-find_package(MMMToolsQUIET)
+find_package(MMMTools QUIET)
 
 armarx_build_if(Eigen3_FOUND "Eigen3 not available")
 armarx_build_if(Simox_FOUND "Simox-VirtualRobot not available")