Consider adding all_joints controlboardwrapper and ROS joint_states related quantities as default to robots-configuration

[prashanthr05]

This feature might be highly convenient while running estimation or control algorithms that gathers information from all the control boards.

As in a lot of code that the developer usually needs to run

• to open remote control boards and
• to open a remote control board remapper for the opened remote control boards

can be boiler-plate into the configuration file. In the end, the developer needs to run only an attach to the all_joints controlboardwrapper2 which in its underlying configuration does all the required remapping of the controlboards.

Further access to ROS joint states related quantities, brings in a lot of nice features that ROS-based protocols can offer, for instance, visualization and tf trees to be used conveniently with the regular workflow.

Most Importantly, since several iCubs already have that in their configuration files (see https://github.com/robotology/robots-configuration/search?q=all_joints&type=Code), we should consider making it default for all.

cc @traversaro