Fix FT-IMU frames conversion

[pattacini]

This PR fixes a problem we spotted in the conversion between the FT reference frame and the frame of the mounted IMU.

cc @davidetome @simeonedussoni

[traversaro]

fyi @isorrentino

[traversaro]

The idea is to release this fix with icub-firmware v1.26.0 / distro v2022.08, right?

[pattacini]

The PR has already landed on the FW, so it depends on @marcoaccame when he wants to release the fix and thus the latest devel.
We could also think of targeting the upcoming Distro 2022.05.1, if needed.

[traversaro]

That would be great, but are you ok on shipping in 2022.05.1 (or actually 2022.05.2, 2022.05.1 was released yesterday : ) ) also the other changes that were committed to icub-firmware devel in the meantime, i.e. :

• Enhancement of the embot::hw::timer driver robotology/icub-firmware#271
• Amc bldc: the new supervisor multi-packets robotology/icub-firmware#269

[pattacini]

The 2 changes you spotted are fine as they pertain to AMC and AMCBLDC internal development, I suppose.
So, first, we need the green light from @marcoaccame.
In the case of 🟢, we should coordinate w/ you and @Nicogene for the correct deliveries.