Activating and using the new Multiple Analog Sensors Interfaces implemented in YARP

[nunoguedelha]

This epic is meant for tracking the changes that were required for wrapping the Multiple Analog Sensors Interfaces in scripting languages like Matlab or Python. These interfaces allow to access the MTB accelerometers, gyroscopes and the strain2 IMUs metadata and measurements:

History on the Implementation (non exhaustive)

• initial discussions lead by @traversaro for defining the interface: Multiple Analog Sensors interfaces proposal: take two  robotology/yarp#1526
• initial implementation on YARP: Add multiple analog sensors interfaces and related devices  robotology/yarp#1586, Improve MultipleAnalogSensorInterfaces docs  robotology/yarp#1676
• robot configuration: new devices and wrappers configurations were created for supporting the strain2 IMUs
• issue fix in Yarp on MultipleAnalogSensorsRemapper class: Fix the sensors name remapping in MultipleAnalogSensorsRemapper class robotology/yarp#1785

Extending to MTB inertial sensors

• extention (@valegagge ) for supporting the new interfaces in embObjInertials device (icub-main/firmware-shared), which is used for connecting to MTB board inertials sensors: Questions on new inertial3 sensor types and configuration robotology/icub-firmware-shared#24
• respective extension of the robot configuration files on iCubGenova04: iCubGenova04: config files for inertials multiple analog sensors robotology/robots-configuration#69
• respective extension of the robot configuration files on iCubGenova02: iCubGenova02: config files for inertials multiple analog sensors robotology/robots-configuration#71.

Bindings

• Added new interfaces bindings definition (yarp.i) in YARP: Add bindings for Multiple Analog Sensors interfaces robotology/yarp#1756
• Added bindings for using AttachAll and DetachAll methods from MultipleAnalogSensorsRemapper class (this is usefull for creating a remapper from a Matlab script using the bindings): PR to be done. Tests ongoing
• generate respective bindings in yarp-matlab-bindings: TBD after tests completed on the Matlab MultipleAnalogSensorsRemapper wrapper class.

Testing

• implement the new interfaces in GazeboYARPPlugins for testing them on a Gazebo iCub model: Ongoing