Permit to set enable_tags and disable_tags in gzyarp::RobotInterface robotinterface

[traversaro]

Fix #163 .

This PR does the following (sorry for the relative big PR):

• Add documentation for the gzyarp::RobotInterface (as otherwise it was impossible to document the new functionalities if we did not document the basic functionalities of the plugin)
• Add the support in gzyarp::RobotInterface to specify enable_tags and disable_tags (as described in YARP documentation, see https://www.yarp.it/latest/group__yarp__robotinterface__xml__config__files.html) via the yarpRobotInterfaceEnableTags and yarpRobotInterfaceDisableTags elements.
• Add support for overloading yarpRobotInterfaceEnableTags and yarpRobotInterfaceDisableTags elements via the gzyarp::ConfigurationOverride plugin added in Add gzyarp::ConfigurationOverride plugin to permit to override initialConfiguration tag in gzyarp::ControlBoard plugins #232 .

All these functionalities permit to write models in which some YARP devices created by the yarprobotinterface can be enabled and disabled, also from the world that includes the model.

A simple example of this functionality is:

    <model name="robotinterface_with_overriden_tags">
        <plugin name='gzyarp::ConfigurationOverride' filename='gz-sim-yarp-configurationoverride-system'>
            <!-- The yarpPluginConfigurationOverride device is used to override the configuration of
                 a given gzyarp::RobotInterface plugin, whose name (the one specified inside the xml file) is specified with yarpRobotInterfaceName, or you can specify `all` to ensure that the enable tags will be specified for all -->
            <yarpPluginConfigurationOverride yarpRobotInterfaceName='all'/>
            <yarpRobotInterfaceEnableTags>(enable_tag1)</yarpRobotInterfaceEnableTags>
            <yarpRobotInterfaceDisableTags>(disable_tagA disable_tagB)</yarpRobotInterfaceDisableTags>
        </plugin>
        <include>
            <uri>model://model_with_robotinterface_inside</uri>
        </include>
    </model>

(from the gzyarp::RobotInterface docs).

The implemented functionality has been validated with a dedicated RobotInterfaceTest.

[traversaro]

There were a few issues, but now they are fixed and the tests are happy, the PR is ready for review.

[xela-95]

Super @traversaro !! I went through the code and tests and they look good to me! Thanks for also adding the related documentation.

[traversaro]

Thanks, I applied your suggestions. If you agree I would squash and merge, and then release a tag a v0.4.0 release so that all users (even the one using conda packages) can use the improvements added to solve part of #229 .

[xela-95]

Thanks, I applied your suggestions. If you agree I would squash and merge, and then release a tag a v0.4.0 release so that all users (even the one using conda packages) can use the improvements added to solve part of #229 .

Perfect! 🚀