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/Navigator.cpp

@@ -728,15 +728,19 @@ namespace armarx::navigation::server
 
         // scene update
         {
+            ARMARX_DEBUG << "Updating scene";
+
             const Duration duration =
                 armarx::core::time::StopWatch::measure([&]() { updateScene(); });
 
-            ARMARX_VERBOSE << deactivateSpam(0.2) << "Scene update: " << duration.toSecondsDouble()
-                           << "s.";
+            ARMARX_VERBOSE << deactivateSpam(0.2) << "Scene update: " << duration.toMilliSecondsDouble()
+                           << "ms.";
         }
 
         // local planner update
         {
+            ARMARX_DEBUG << "Local planner update";
+
             const Duration duration = armarx::core::time::StopWatch::measure(
                 [&]()
                 {
@@ -748,16 +752,18 @@ namespace armarx::navigation::server
                     }
                 });
             ARMARX_VERBOSE << deactivateSpam(0.2)
-                           << "Local planner update: " << duration.toSecondsDouble() << "s.";
+                           << "Local planner update: " << duration.toMilliSecondsDouble() << "ms.";
         }
 
         // monitor update
         {
+            ARMARX_DEBUG << "Monitor update";
+
             const Duration duration =
                 armarx::core::time::StopWatch::measure([&]() { updateMonitor(); });
 
             ARMARX_VERBOSE << deactivateSpam(0.2)
-                           << "Monitor update: " << duration.toSecondsDouble() << "s.";
+                           << "Monitor update: " << duration.toMilliSecondsDouble() << "ms.";
         }
     }