Add streaming of ergoCub leg imus

[isorrentino]

As per the title. In addition, I aligned the name of the port to expose the right arm ft and the feet imu.

[traversaro]

Hi @isorrentino, probably we need to align this with #505 and ideally icub-tech-iit/documentation#271 if we agree on this. If you are in IIT we can quickly align on this, I can come down to the ergoCub to discuss. fyi @GiulioRomualdi

[isorrentino]

Hi @traversaro sure, I'm here.

[pattacini]

Hi @isorrentino, probably we need to align this with #505 and ideally icub-tech-iit/documentation#271 if we agree on this. If you are in IIT we can quickly align on this, I can come down to the ergoCub to discuss. fyi @GiulioRomualdi

Converted to draft for the time being.

[isorrentino]

Today I rebased branch branch on devel (updated yesterday night) and the robot does not start. The error is:

[ERROR] ParametricCalibratorEth:  Torso_Calibrator : number of joints of device to calibrate ( 2 ) does not match the number of joints in calibrator config file ( 3 )
[INFO] Left_Leg_Calibrator : starting calibration
[DEBUG] torso-calibrator finished calibration of device torso-mc_remapper

I'm debugging with @AntonioConsilvio and we found that this commit 62c5dd0 is the cause.

cc @traversaro @pattacini @S-Dafarra @DanielePucci

[pattacini]

@traversaro, the CI didn't catch it because I have to disable the calibrator during it.

[isorrentino]

Since this PR is in draft, for the time being, I pushed the modification here to have the robot working (68e8520d26716fb4c2220dc32269391cbfb4fb03).

[pattacini]

Today I rebased branch branch on devel (updated yesterday night) and the robot does not start. The error is:

[ERROR] ParametricCalibratorEth:  Torso_Calibrator : number of joints of device to calibrate ( 2 ) does not match the number of joints in calibrator config file ( 3 )
[INFO] Left_Leg_Calibrator : starting calibration
[DEBUG] torso-calibrator finished calibration of device torso-mc_remapper

I'm debugging with @AntonioConsilvio and we found that this commit 62c5dd0 is the cause.

cc @traversaro @pattacini @S-Dafarra @DanielePucci

Should be fixed via #515.

[isorrentino]

Should be fixed via #515.

Perfect, then. I can rebase this PR ontop.

[isorrentino]

I tested this branch rebase on this pr #515 and everything works fine.

Yesterday, @traversaro @GiulioRomualdi and I discussed this comment #513 (comment), and we agreed that this PR is not touching files changed here #505. So if you (@pattacini and @traversaro ) agree we could go on with this PR.

[pattacini]

So if you (@pattacini and @traversaro ) agree we could go on with this PR.

Oki 👍🏻

I tested this branch rebase on this pr #515 and everything works fine.

Put in ready for review then.