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/server/execution/PlatformControllerExecutor.cpp

@@ -48,12 +48,12 @@ namespace armarx::navigation::server
                 armarx::navigation::common::ControllerType::PlatformTrajectory>();
 
             ARMARX_TRACE;
-            // FIXME remove withconfig
+
+            const armarx::PackagePath configPath("armarx_navigation", "controller_config/PlatformTrajectory/default.json");
+
             auto ctrlWrapper =
                 builder.withNodeSet("PlatformPlanning")
-                    .withConfig(
-                        "/home/fabi/workspace/armarx/skills/navigation/data/armarx_navigation/"
-                        "controller_config/PlatformTrajectory/default.json")
+                    .withConfig(configPath.toSystemPath())
                     .create();
 
             ARMARX_TRACE;