Draft: Make RobotStateMemory ready

Goal:

• Make stable (especially race conditions)
• Improve runtime
• Add profiling/monitoring
• Refactor code
• Add missing interfaces

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

@@ -140,8 +140,6 @@ namespace armarx::armem::server::robot_state
             robotUnit.plugin->waitUntilRobotUnitIsRunning();
         }
         RobotUnitInterfacePrx robotUnitPrx = robotUnit.plugin->getRobotUnit();
-        ARMARX_CHECK_NOT_NULL(robotUnitPrx->getKinematicUnit())
-                << "Robot unit '" << robotUnit.plugin->getRobotUnitName() << "' must have a kinematic unit.";
 
         descriptionSegment.connect(robotUnitPrx);
 
@@ -149,7 +147,7 @@ namespace armarx::armem::server::robot_state
 
         localizationSegment.connect();
 
-        commonVisu.connect(getArvizClient());
+        commonVisu.connect(getArvizClient(), debugObserver->getDebugObserver());
 
         robotUnit.reader.connect(*robotUnit.plugin, *debugObserver);
         robotUnit.writer.connect(*debugObserver);