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/scene_provider/SceneProvider.cpp

 #include "SceneProvider.h"
 
 #include <VirtualRobot/SceneObjectSet.h>
+#include "ArmarXCore/core/exceptions/local/ExpressionException.h"
 
 #include <armarx/navigation/algorithms/CostmapBuilder.h>
 #include <armarx/navigation/util/util.h>
@@ -25,7 +26,8 @@ namespace armarx::navigation::server::scene_provider
         scn.timestamp = timestamp;
 
         scn.robot = srv.virtualRobotReader->getRobot(
-            config.robotName, timestamp, VirtualRobot::RobotIO::RobotDescription::eStructure);
+            config.robotName, timestamp, VirtualRobot::RobotIO::RobotDescription::eCollisionModel);
+        ARMARX_CHECK_NOT_NULL(scn.robot);
 
         scn.staticScene = getStaticScene(timestamp);
         scn.dynamicScene = getDynamicScene(timestamp);
@@ -43,7 +45,7 @@ namespace armarx::navigation::server::scene_provider
         srv.virtualRobotReader->synchronizeRobot(*scn.robot, timestamp);
 
         scn.dynamicScene = getDynamicScene(timestamp);
-        scn.graph = getSceneGraph(timestamp);
+        // scn.graph = getSceneGraph(timestamp);
 
         return true; // TODO(fabian.reister): return false if sync fails
     }