convert recvTime to publish it

source/RobotAPI/drivers/SickLaserUnit/SickScanAdapter.cpp

@@ -170,7 +170,10 @@ namespace armarx
         } // return success to continue looping
 
         //TODO: convert ros::Time recvTimeStamp to IceUtil
-        scanTime = TimeUtil::GetTime();
+        ros::Time correctedStamp = recvTimeStamp + ros::Duration(config_.time_offset);
+        uint64_t recvMsec = correctedStamp.toNSec() / 1000;
+        scanTime = IceUtil::Time::milliSeconds(recvMsec);
+        //scanTime = TimeUtil::GetTime();
         //msg.header.stamp = recvTimeStamp + ros::Duration(config_.time_offset);
 
         //datagrams are enclosed in <STX> (0x02), <ETX> (0x03) pairs