Add the MAS client usage in WholeBodyDynamics

[Nicogene]

Preface: I honestly don't know how the imu data is used in this module, i just kept the logic.

This PR add the possibility to make communicate the IMU and WholeBodyDynamics using the multipleanalogsensorclient.

cc @marcoaccame

[Nicogene]

I noticed that for gravityCompensator no changes are required. It gets the inertial data reading form output streaming port of wholeBodyDinamics, not directly from the imu.

@traversaro correct me if I am wrong.

I added to this PR some cleanup commit of gravityCompensator.

[traversaro]

@traversaro correct me if I am wrong.

Exactly, that is correct as far as I remember.

[Nicogene]

I added also the changes of in the iCubGui for using of MAS client since it was a small piece of code.

wholeBodyDynamics, gravityCompensator and iCubGui have now to be tested

[pattacini]

Approved but remember to test it 👍

[pattacini]

Let's go back to port-wise managing of the inertial done within the iCubGui.
Testing the functionality of WBD can be done via the combined use of ARE and iCubGui.

[Nicogene]

In the today meeting, emerged the necessity to connect the iCubGui to the inertial sensor at a later time and test it with the other modules involved in this PR.

TODO:

• Install the thrift of the MultipleAnalogSensors classes.
• Remove the instantiation of multipleanalogsensorsclient from iCubGui, it will read form the streaming port measures:o in order to not connect it at start time.
• Add option in MAS client to connect externally to the streaming port(MultiplAnalogSensorsClient: add --externalConnection option yarp#2098)
• Test wholeBodyDynamics with ARE
• Test WBD looking the forces in the iCubGui while moving the arms.

[pattacini]

@Nicogene any progress on this?

[Nicogene]

This PR depends by robotology/yarp#2098, the minimum yarp version will be bumped.

[Nicogene]

The head v2.6 has been handled in this way in iDyn.

• 0467c47
• 29e1bc2
• 5b3251c
• d50fe0d

I know it is different to how the versioning is handled in iKin, actually iKin is somehow entangled with iDyn.
The best way should be add a constructor that accepts a iKinChain with a specified version in order to use only one versioning system. But for what I understood this library is still used only by few applications.

If I have green light @traversaro and @pattacini I start testing gravityCompensator with the imurfe.

[pattacini]

🚦 green lights @Nicogene 👍
As said, iDyn is quite old.

[Nicogene]

Today I tested successfully both WBD and gravityCompensator, checking the forces estimated in the iCubGui and trying the compliant mode on the arms.

It worked both with the classic imu and the imurfe.

Ready to be merged.