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CI of mc_rtc with Docker

Merge pull request #398 from gergondet/topic/ImproveReplayAccuracy #1051

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Merge pull request #398 from gergondet/topic/ImproveReplayAccuracy

Merge pull request #398 from gergondet/topic/ImproveReplayAccuracy #1051

Run time

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Job Run time
build (debian_buster)
1h 23m 34s
build (ubuntu_22.04)
1h 1m 18s
2h 24m 52s