Migrate iCub FT to have one NWS for each part

[Nicogene]

This is the follow-up of #505.

It fixes #485

TO BE TESTED ON iCubGenova02

[pattacini]

Failed tests are:

The log is available at https://github.com/robotology/robots-configuration/actions/runs/5004364199?pr=517 as an artifact.

[Nicogene]

The errors reduced, but they are still there

[Nicogene]

The device canBusAnalogSensor had the same problem of embObjStrain (see #523), i.e. it does not implement the MAS interfaces. (see robotology/icub-main#865 (comment))

For this reason f230652 (#517) has replaced canBusAnalogSensor w/ canBusFTSensor(robotology/icub-main#813) for the FT.
Moreover, now w/ this configuration we have the frame exposed also for the can robots, then in theory usable w/ ROS2 pipeline.

cc @traversaro @pattacini

[Nicogene]

Today I tested it on iCubGenova02 rebasing this branch on #523 and using this version of icub-main -> robotology/icub-main#873

It worked flawlessly, after this fix: 15003d5 (#517) now the FT published divided per parts.

cc @traversaro @pattacini

[pattacini]

TO BE TESTED ON iCubGenova11

Do we need to perform this test as well?

[pattacini]

CI just failed.

[Nicogene]

TO BE TESTED ON iCubGenova11

Do we need to perform this test as well?

iCubGenova02 has both strain and strain2 and moreover has the remapping in the leg, the test should be sufficient.

CI just failed.

I think I need to rebase it first

[pattacini]

Still failing.

Some stray logs from iCubErzelli01:

[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name r_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] Device right_leg-FT_remapper cannot execute attach
[ERROR] Cannot run attach action on device right_leg-FT_remapper
[INFO] Executing attach action, level 5 on device left_leg-FT_remapper with parameters [("networks" = "(left_leg-eb6-j0_3-strain left_leg-eb7-j4_5-strain)"), ("left_leg-eb6-j0_3-strain" = "left_leg-eb6-j0_3-strain"), ("left_leg-eb7-j4_5-strain" = "left_leg-eb7-j4_5-strain")]
[ERROR] |yarp.device.multipleanalogsensorsremapper| Impossible to find sensor name l_leg_ft_sensor , exiting.
[ERROR] |yarp.device.multipleanalogsensorsremapper|     Names of available sensors are:
[ERROR] Device left_leg-FT_remapper cannot execute attach
[ERROR] Cannot run attach action on device left_leg-FT_remapper

[traversaro]

For iCubErzelli01 (and probably other robots), I guess we need to align the id of the ft sensors with the name used in the URDF, see cdf0cc6 .

[Nicogene]

The failure shoudl be fixed by 4f8037c (#517). The problem was the remapping of the temperature measure for the sensor that does not have it (e.g. strain)