Update usage of time in armem_vision

source/RobotAPI/libraries/armem_vision/aron_conversions.cpp

@@ -6,12 +6,14 @@
 
 #include <RobotAPI/interface/units/LaserScannerUnit.h>
 #include <RobotAPI/libraries/armem_vision/aron/LaserScan.aron.generated.h>
+#include <RobotAPI/libraries/armem/core/aron_conversions.h>
 #include <RobotAPI/libraries/aron/common/aron_conversions.h>
 #include <RobotAPI/libraries/aron/converter/common/Converter.h>
 #include <RobotAPI/libraries/aron/core/data/variant/complex/NDArray.h>
 
 #include "types.h"
 
+
 namespace armarx::armem
 {
 
@@ -20,7 +22,7 @@ namespace armarx::armem
     {
         return {.agent     = aronSensorHeader.agent,
                 .frame     = aronSensorHeader.frame,
-                .timestamp = aronSensorHeader.timestamp};
+                .timestamp = aron::fromAron<Time>(aronSensorHeader.timestamp)};
     }
 
     void fromAron(const arondto::LaserScanStamped& aronLaserScan,
@@ -40,7 +42,7 @@ namespace armarx::armem
 
         // laserScan = fromAron(aronLaserScan.data);
 
-        timestamp = header.timestamp.toMicroSeconds();
+        timestamp = header.timestamp.toMicroSecondsSinceEpoch();
         frame     = header.frame;
         agentName = header.agent;
     }
@@ -54,7 +56,7 @@ namespace armarx::armem
 
     int64_t toAron(const armem::Time& timestamp)
     {
-        return timestamp.toMicroSeconds();
+        return timestamp.toMicroSecondsSinceEpoch();
     }
 
     arondto::SensorHeader toAron(const SensorHeader& sensorHeader)
@@ -63,7 +65,7 @@ namespace armarx::armem
 
         aronSensorHeader.agent     = sensorHeader.agent;
         aronSensorHeader.frame     = sensorHeader.frame;
-        aronSensorHeader.timestamp = sensorHeader.timestamp;
+        toAron(aronSensorHeader.timestamp, sensorHeader.timestamp);
 
         return aronSensorHeader;
     }

source/RobotAPI/libraries/armem_vision/client/laser_scans/Writer.cpp

@@ -65,7 +65,7 @@ namespace armarx::armem::vision::laser_scans::client
             return false;
         }
 
-        const auto iceTimestamp = Time::microSeconds(timestamp);
+        const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
 
         const auto providerId = armem::MemoryID(result.segmentID);
         const auto entityID =

source/RobotAPI/libraries/armem_vision/client/occupancy_grid/Writer.cpp

@@ -25,7 +25,7 @@ namespace armarx::armem::vision::occupancy_grid::client
             return false;
         }
 
-        const auto iceTimestamp = Time::microSeconds(timestamp);
+        const auto iceTimestamp = Time(Duration::MicroSeconds(timestamp));
 
         const auto providerId = armem::MemoryID(result.segmentID);
         const auto entityID   = providerId.withEntityName(frame).withTimestamp(iceTimestamp);