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/platform_controller/controller_descriptions.h

@@ -22,8 +22,8 @@
 #pragma once
 
 #include <armarx/control/client/ControllerDescription.h>
-
 #include <armarx/navigation/common/controller_types.h>
+#include <armarx/navigation/platform_controller/PlatformTrajectoryController.h>
 #include <armarx/navigation/platform_controller/aron/PlatformTrajectoryControllerConfig.aron.generated.h>
 
 namespace armarx::control::client
@@ -34,6 +34,8 @@ namespace armarx::control::client
         using AronDTO =
             armarx::navigation::platform_controller::platform_trajectory::arondto::Config;
 
+        using BO = armarx::navigation::platform_controller::platform_trajectory::Config;
+
         // constexpr static const char* name = armarx::navigation::common::ControllerTypeNames.to_name(armarx::navigation::common::ControllerType::PlatformTrajectory);
         constexpr static const char* name =
             armarx::navigation::common::PlatformTrajectoryControllerName;