Add README

devices/RobotDynamicsEstimatorDevice/README.md

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+# RobotDynamicsEstimatorDevice
+
+The **RobotDynamicsEstimatorDevice** is a YARP device based on `RobotDynamicsEstimator` to estimate joint torques from a YARP-based robot.
+
+
+## :running: How to use the device
+
+To run the device on a robot (whether in simulation or on a real robot), make sure to define the configuration files for the robot in the `app/robots` folder.
+
+- **ergoCubGazeboV1**
+
+  - open the robot model in Gazebo
+  - launch `RobotDynamicsEstimatorDevice`
+    ```
+    YARP_ROBOT_NAME=ergoCubGazeboV1 yarprobotinterface --config launch-robot-dynamics-estimator.xml
+    ```
+    in case you started gazebo with the real-time clock option (`gazebo -slibgazebo_yarp_clock.so`) add `YARP_CLOCK=/clock` to the previous command.
+    ```
+    YARP_CLOCK=/clock YARP_ROBOT_NAME=ergoCubGazeboV1 yarprobotinterface --config launch-robot-dynamics-estimator.xml
+    ```
+- **ergoCubSN000**
+
+  - Launch `yarprobotinterface` on the robot.
+  - launch `RobotDynamicsEstimatorDevice`
+    ```
+    YARP_ROBOT_NAME=ergoCubSN000 yarprobotinterface --config launch-robot-dynamics-estimator.xml
+    ```