using armarx::rtNow instead of IceUtil::Time

source/RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleLogging.cpp

@@ -29,6 +29,7 @@
 #include <ArmarXCore/core/ArmarXManager.h>
 #include <ArmarXCore/core/util/FileSystemPathBuilder.h>
 #include <ArmarXCore/util/CPPUtility/trace.h>
+#include "RobotAPI/components/units/RobotUnit/util/NonRtTiming.h"
 
 #include "../util/ControlThreadOutputBuffer.h"
 #include "RobotUnitModuleControlThreadDataBuffer.h"

source/RobotAPI/components/units/RobotUnit/util/ControlThreadOutputBuffer.h

@@ -34,6 +34,7 @@
 #include "../Devices/SensorDevice.h"
 #include "../SensorValues/SensorValueBase.h"
 #include "HeterogenousContinuousContainer.h"
+#include "RtTiming.h"
 
 namespace armarx
 {
@@ -50,7 +51,7 @@ namespace armarx::detail
 {
     struct RtMessageLogEntryBase
     {
-        RtMessageLogEntryBase() : time{IceUtil::Time::now()}
+        RtMessageLogEntryBase() : time{armarx::rtNow()}
         {
         }
 

source/RobotAPI/components/units/RobotUnit/util/NonRtTiming.h

@@ -59,7 +59,7 @@ namespace armarx
              */
         //
         IceUtil::Time time_real_time = time_monotic_raw - now_monotonic_raw + now_real_time;
-
+        ARMARX_DEBUG << VAROUT(time_monotic_raw) << " vs. " << VAROUT(time_real_time);
         return time_real_time;
     }