Fix frame name for multipleFT sensors

[triccyx]

Fix frame name for multipleFTSensors
This is the first step done for MultipleFtSensor to understand if this fix is correct @randaz81

[pattacini]

Hi @triccyx

As discussed, let's extend the fix to the single FT device too.

[triccyx]

I will create a new PR only for the old FT sensor devices.

[triccyx]

I have executed the test ao a real sensor without framename in XML the warning appears:

The channel plot is correct:

[pattacini]

Just giving @randaz81 a couple of days for reviewing the PR.
I'm gonna merge it this week.

[randaz81]

I have the following concern about this multipleFT device (please note that I am not familiar with this device, and I don't know on which robot is currently employed).

• If this device is handling a single hardware, then its sensor name is unique -> ok
• if this device provides multiple measurements coming from different points in the space, then probably a list of frame names is required (each frame name then needs to be specified in the urdf file with its coordinates).

[triccyx]

@randaz81 the result XML section for multiple FT is something like this

  <group name="SENSORS">
                <param name="id">                   l_foot_ft1      l_foot_ft2      l_foot_ft3  </param>
                <param name="board">                strain2         strain2         strain2      </param>
                <param name="location">             CAN2:13         CAN1:13         CAN2:11     </param>
                <param name="framename">            myframename1    myframename2    myframename3 </param>
            </group>

Should it be ok? Each sensor has its own frameName.