diff --git a/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h b/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
index 7b9e6a630606ae15d3bdab1fc18d107d98a02fca..0f5b47c8e0bfc783b34cc2080488bf5d81a9b1d6 100644
--- a/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
+++ b/source/RobotAPI/components/units/RobotUnit/util/RtTiming.h
@@ -23,8 +23,9 @@
  */
 #pragma once
 
-#include <chrono>
-#include "ControlThreadOutputBuffer.h"
+#include <time.h>
+
+#include <IceUtil/Time.h>
 
 namespace armarx
 {
@@ -36,11 +37,11 @@ namespace armarx
     } // namespace rt_timing::constants
 
     inline IceUtil::Time
-    rtNow(clockid_t clockId = CLOCK_MONOTONIC_RAW)
+    rtNow()
     {
         using namespace rt_timing::constants;
         struct timespec ts;
-        clock_gettime(clockId, &ts);
+        clock_gettime(CLOCK_MONOTONIC_RAW, &ts);
         return IceUtil::Time::microSeconds(ts.tv_sec * seconds2MicroSeconds +
                                            ts.tv_nsec / nanoSeconds2MicroSeconds);
     }
@@ -50,8 +51,7 @@ namespace armarx
 //! \ingroup VirtualTime
 //! Prints duration with comment in front of it, yet only once per second.
 #define RT_TIMING_END_COMMENT(name, comment)                                                       \
-    printf(                                                                           \
-        "%s - duration: %.3f ms \n", comment, (armarx::rtNow() - name).toMilliSecondsDouble());
+    printf("%s - duration: %.3f ms \n", comment, (armarx::rtNow() - name).toMilliSecondsDouble());
 //! \ingroup VirtualTime
 //! Prints duration
 #define RT_TIMING_END(name) RT_TIMING_END_COMMENT(name, #name)