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)

examples/components/example_client/Component.cpp

@@ -290,10 +290,9 @@ namespace armarx::navigation::components::example_client
         ARMARX_INFO << "Moving to goal pose";
         // Start moving to goal position using above config.
 
-        auto& virtualRobotReader = virtualRobotReaderPlugin->get(); 
+        auto& virtualRobotReader = virtualRobotReaderPlugin->get();
 
-        auto robot =
-            virtualRobotReader.getSynchronizedRobot(properties.robotName, armarx::Clock::Now());
+        auto robot = virtualRobotReader.getSynchronizedRobot(properties.robotName);
         ARMARX_CHECK_NOT_NULL(robot);
 
         const core::Pose initialPose(robot->getGlobalPose());