Add dry run in the CI

[Nicogene]

Since now gazebo models use yarprobotinterface plugin, it would be nice to have a dry run for checking the xml consistency as we have for real robots.

This can be applied also to icub-models-generator (cc @traversaro)

[traversaro]

For Gazebo simulators technically we could directly run the gazebo simulation, no need for the dryrun (that I am not sure if they work as some devices are launched by gazebo itself and not by the yarprobotinterface xml).