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Timeserver

Merged Timeserver
timeserver into master
Merged Clemens Wallrath requested to merge timeserver into master

Adds support for synchronised virtual time (see https://i61wiki.itec.uka.de/redmine/issues/348)

Makes the KinematicUnitSimulation use virtual time if available

Depends on https://gitlab.com/ArmarX/ArmarXCore/merge_requests/12

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