Fix inconsistent timestamps in RobotStateComponent

source/RobotAPI/components/RobotState/RobotStateComponent.cpp

@@ -37,6 +37,8 @@
 #include <ArmarXCore/core/rapidxml/wrapper/RapidXmlReader.h>
 #include <ArmarXCore/core/system/ArmarXDataPath.h>
 #include <ArmarXCore/core/time/TimeUtil.h>
+#include <RobotAPI/components/units/RobotUnit/util/RtTiming.h>
+#include <RobotAPI/components/units/RobotUnit/util/NonRtTiming.h>
 
 
 using namespace Eigen;
@@ -296,10 +298,10 @@ namespace armarx
     {
         if (timestamp <= 0)
         {
-            timestamp = IceUtil::Time::now().toMicroSeconds();
+            timestamp = armarx::rtNow().toMicroSeconds();
         }
 
-        IceUtil::Time time = IceUtil::Time::microSeconds(timestamp);
+        IceUtil::Time time = mapRtTimestampToNonRtTimestamp(IceUtil::Time::microSeconds(timestamp));
 
         ARMARX_DEBUG << deactivateSpam(1) << "Got new jointangles: " << jointAngles
                      << " from timestamp " << time.toDateTime()