Write configuration file for launching wholebodydynamics for ergoCubGazeboV1 (simulated robot) with an external yarprobotinterface process

[traversaro]

For running walking and other demos, it is necessary to estimate external forces acting on the robot, and this can be done via the wholebodydynamics YARP device. This YARP device can run:

• wbd-int. Inside the gazebo simulator, via the gazebo_yarp_robotinterface plugin, a bit like on the real robot wholebodydynamics is running in the main yarprobotinterface of the real robot ergoCubSN000 (see https://github.com/robotology/robots-configuration/blob/v2.1.0/ergoCubSN000/estimators/wholebodydynamics.xml)
• wbd-ext Outside of the gazebo simulator, by accessing the relevant sensor via the multipleanalogsensorclient device

This issue tracks the wbd-ext workflow, and @HosameldinMohamed and @mebbaid are already working on this. The option wbd-int is tracked in #35 .