Fix problem of spikes in time between one call to the controller and the next one.
This morning @ostasse and I made a few experiments to verify that basic walking still works and to investigate the problem of computation times found by a few people using sot-talos-balance. We found that the walking still works, both on the master branch and on devel, and there seems not to be problems of computation time. However, we noticed spikes in the time between one call to the SOT and the other. They are similar to what was seen in https://gepgitlab.laas.fr/loco-3d/sot-talos-balance/issues/89#note_5216.
These happen both on the master branch and on devel. Further, we recovered data from the first walking experiments we made and we saw the spikes were already present.
This is probably not due to the controller itself, but to some lower level tool. It should be investigated.