Add yarp rpc block

[yeshasvitirupachuri]

Currently, the WBToolbox has only yarp read and yarp write blocks which serve the purpose of reading and writing to yarp ports from simulink. It is very useful to have a block that will enable users to communicate with rpc ports from simulink directly. In this issue we handle the details related to adding a YarpRpc block to WBToolbox library.

@diegoferigo

[yeshasvitirupachuri]

YarpRpc block is implemented and a PR is opened #178

This block behaves as the command 'yarp rpc'.

It takes two parameters:

1. Rpc server port name to which user wants to send rpc commands. This is a string datatype.
2. Rpc command which is the command user wants to send. This is a string datatype.

This block has an input signal called Trigger. This is intended to be a boolean datatype and when the signal is true the rpc command is sent to the rpc server port.

[yeshasvitirupachuri]

Tests

WholeBodyDynamics Rpc port

Screenshots

Gif

GazeboYarp ExternalWrench plugin Rpc port

Screenshots

Gif