Imu test - test multiple IMUs and save data

[martinaxgloria]

This PR adds the possibility to run the test for multiple IMUs at a time to check the Euler angles values.

These changes were tested both in simulation and on the real robot (iCubGenova11).

[pattacini]

Changed base branch to devel.

[Nicogene]

Excellent work!

Just a comment not blocking the PR!

[martinaxgloria]

In 46d8d1c I integrated the robometry framework to save relevant measurements (i.e. expected and measured orientation data, joints positions and velocities, error, and so on) for future inspections.

cc @Nicogene @traversaro

[Nicogene]

@martinaxgloria consider rebasing your branch over latest devel:

• Use conda in CI #70

Introduced conda-based dependencies that speed up the CI. Please also enable this test in the CI and add the required dependencies

[martinaxgloria]

Yes, thanks @Nicogene, I'll do it

[martinaxgloria]

In d35471a, I implemented the possibility of testing all the available IMUs by passing to the sensorsList parameter an empty list or all. Moreover, I added a bash that contains some ctpService calls to set a sequence of movements of the interested joints (left_arm, right_arm and neck ones) during which the sensors were tested.

cc @Nicogene @traversaro

[martinaxgloria]

Tested on iCubGenova11:

test-iCubGenova11.mp4

Since robotology/icub-models-generator#233, the test result is:

cc @Nicogene @traversaro

[traversaro]

Great!

[Nicogene]

Great work @martinaxgloria!

Some small points to be addressed, but we have almost landed 🛬

Have you forgot to commit the move.sh script?

[Nicogene]

Ah I forgot, now that the CI is conda based should be easy to enable the compilation of this test in the CI adding also the additional dependencies

[martinaxgloria]

Ah I forgot, now that the CI is conda based should be easy to enable the compilation of this test in the CI adding also the additional dependencies

Done here 936c4e3 and 513a57a

cc @Nicogene