Align icub-models FT sensor names with sensor names exposed by YARP devices on the real robot

[traversaro]

See discussion in #240 . In a nutshell, on the URDF model the sensor names are l_arm_ft, l_leg_ft, ..., while the real devices on the iCub 2.* and 3 robots name the sensor l_arm_ft_sensor, l_leg_ft_sensor, ... .

[traversaro]

The sensor names were changed from <identifier>_ft_sensor to <identifier>_ft in:

• iCub 2.* : iCubGazeboV2_5: add exportation of FT frames #232
• iCub 3.* : icub3: add xml files for running mc and ft ros2 nws #228

So the problem has been present in icub-models since 2.0.0 release, i.e. since robotology distro 2023.02.0 .

[traversaro]

Fixed by:

• Fix compatibility with FT sensors names in URDF in icub-models >= 2 robots-configuration#562
• Change FT sensors names for compatibility with icub-models >= 2.0.0, robots-configuration >= 2.5.0 and ergocub-software >= 0.3.4 ami-iit/bipedal-locomotion-framework#720
• Change FT sensors names for compatibility with icub-models >= 2.0.0 and robots-configuration >= 2.5.0 (take two) whole-body-estimators#172