Replace controlboardwrapper2 w/ controlBoard_nws_yarp

[pattacini]

This PR aims to remove some leftovers after the controlboardwrapper2 has been declared deprecated in robotology/yarp#2834. The new intended device is thuscontrolBoard_nws_yarp.

In particular, controlBoard_nws_yarp does not handle the remapping of the joints as it leverages a specific device for that; instead, the old controlboardwrapper2 was capable of doing remapping as well. As a result, controlBoard_nws_yarp does not consider the option AxisMap.

Main components affected:

• iCub_SIM (is deprecated in favor of Gazebo but it still remains a nice-to-have)
• canBusMotionControl
• embObjMotionControl

iCub_SIM

• AxisMap completely removed w/o problems as no remapping was performed at all.
• Still need to verify the interaction between robotDescriptionServer and controlBoard_nws_yarp.
• Still to be tested.

canBusMotionControl, embObjMotionControl

• Still handle some AxisMap options.

[pattacini]

iCub_SIM

• Tests successful
  • ✅ simulator launched ok
  • ✅ moved single joint ok
  • ✅ motor YARP ports' period works ok
• Still need to verify the interaction between robotDescriptionServer and controlBoard_nws_yarp.

[marcoaccame]

I had a look at the .cpp and .h inside icubmod/embObjMotionControl and it seems they don't need changes.

[pattacini]

I had a look at the .cpp and .h inside icubmod/embObjMotionControl and it seems they don't need changes.

Thanks heaps @marcoaccame!

[pattacini]

Still need to verify the interaction between robotDescriptionServer and controlBoard_nws_yarp.

This is a minor point any how. Everything's working as expected.
Merging.