Draft: Resolve "RobotStateMemory: Disable update notification topic messages"

Closes #89

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

@@ -21,20 +21,21 @@
  */
 
 #include "RobotStateMemory.h"
-#include "RobotAPI/libraries/armem/core/forward_declarations.h"
 
 #include <RobotAPI/interface/core/PoseBase.h>
 #include <RobotAPI/libraries/core/Pose.h>
-#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
 
+#include <RobotAPI/libraries/armem/core/forward_declarations.h>
+#include <RobotAPI/libraries/armem/server/MemoryToIceAdapter.h>
+
+#include <RobotAPI/libraries/armem_robot_state/server/proprioception/aron_conversions.h>
 #include <RobotAPI/libraries/armem_robot_state/server/common/Visu.h>
+
 #include <RobotAPI/libraries/RobotAPIComponentPlugins/RobotUnitComponentPlugin.h>
 
 #include <ArmarXCore/core/exceptions/local/ExpressionException.h>
-#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 #include <ArmarXCore/core/logging/Logging.h>
-
-#include <IceUtil/Time.h>
+#include <ArmarXCore/libraries/ArmarXCoreComponentPlugins/DebugObserverComponentPlugin.h>
 
 #include <SimoxUtility/algorithm/get_map_keys_values.h>
 #include <SimoxUtility/algorithm/contains.h>
@@ -137,6 +138,9 @@ namespace armarx::armem::server::robot_state
     {
         ARMARX_CHECK_NOT_NULL(debugObserver->getDebugObserver());
 
+        // Disable publishing memory updates (this is special for the RobotStateMemory).
+        iceAdapter().memoryListenerTopic = nullptr;
+
         // 1. General setup
         localizationSegment.onConnect();
         commonVisu.connect(getArvizClient(), debugObserver->getDebugObserver());