Map timestamp from realtime part (MONOTONIC RAW) to epoch-timestamp (REAL_TIME)

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

@@ -35,6 +35,7 @@
 #include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleDevices.h>
 #include <RobotAPI/components/units/RobotUnit/RobotUnitModules/RobotUnitModuleUnits.h>
 #include <RobotAPI/components/units/RobotUnit/Units/RobotUnitSubUnit.h>
+#include <RobotAPI/components/units/RobotUnit/util/NonRtTiming.h>
 
 namespace armarx::RobotUnitModule
 {
@@ -632,7 +633,10 @@ namespace armarx::RobotUnitModule
         const auto requestedJointControllers =
             _module<ControlThreadDataBuffer>().copyRequestedJointControllers();
 
-        lastControlThreadTimestamp = controlThreadOutputBuffer.sensorValuesTimestamp;
+        // controlThreadOutputBuffer.sensorValuesTimestamp is in MONOTONIC_RAW (not relative to epoch).
+        // We have to map it to be relative to epoch (REAL_TIME).
+        lastControlThreadTimestamp =
+            armarx::mapRtTimestampToNonRtTimestamp(controlThreadOutputBuffer.sensorValuesTimestamp);
 
         const bool publishToObserver = !(publishIterationCount % debugObserverSkipIterations);
         //publish publishing meta state