RT controller and simplification

The implementation is split such that the Navigator component only generates the trajectory that will subsequently be executed by a RT controller (see: platform_controller/PlatformTrajectory)

Note:

Currently, this cannot be merged as it depends on some unmerged features in armarx::control (branch: new_mp_controller_aron__memory_and_component_plugin__whole_body_control)

source/armarx/navigation/core/time/ChronoMonotonicTimeServer.cpp

-#include "ChronoMonotonicTimeServer.h"
-
-#include <ArmarXCore/core/time/Clock.h>
-
-namespace armarx::navigation::core
-{
-    armarx::core::time::DateTime
-    ChronoMonotonicTimeServer::now() const
-    {
-        return armarx::Clock::Now();
-    }
-
-} // namespace armarx::navigation::core