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/json_conversions.cpp

@@ -20,28 +20,3 @@
  */
 
 #include "json_conversions.h"
-
-#include <RobotAPI/libraries/aron/core/data/rw/reader/nlohmannJSON/NlohmannJSONReader.h>
-#include <RobotAPI/libraries/aron/core/data/rw/writer/nlohmannJSON/NlohmannJSONWriter.h>
-
-
-namespace armarx::navigation::core
-{
-
-    void
-    arondto::to_json(nlohmann::json& j, const Edge& bo)
-    {
-        armarx::aron::data::writer::NlohmannJSONWriter writer;
-        j = bo.write(writer);
-    }
-
-
-    void
-    arondto::from_json(const nlohmann::json& j, Edge& bo)
-    {
-        armarx::aron::data::reader::NlohmannJSONReader reader;
-        bo.read(reader, j);
-    }
-
-
-} // namespace armarx::navigation::core