Added yarprobotinterface files

[S-Dafarra]

This is on top of #17

There are two separate yarprobotinterface: one for the clock, and one to actually run the devices. I separated them otherwise it was not possible to use the YARP_CLOCK env variable.

Example of usage:

Terminal 1

ergocub@IITBMP014LW025:~$ conda activate ros2_jazzy
(ros2_jazzy) ergocub@IITBMP014LW025:~$ yarpserver

Terminal 2

ergocub@IITBMP014LW025:~$ conda activate ros2_jazzy
(ros2_jazzy) ergocub@IITBMP014LW025:~$ cd repos/isaac-sim-yarp-bridge/conf/
(ros2_jazzy) ergocub@IITBMP014LW025:~/repos/isaac-sim-yarp-bridge/conf$ yarprobotinterface --config isaacsim_clock.xml

Terminal 3

ergocub@IITBMP014LW025:~$ conda activate ros2_jazzy
(ros2_jazzy) ergocub@IITBMP014LW025:~$ cd repos/isaac-sim-yarp-bridge/conf/ergocub/
(ros2_jazzy) ergocub@IITBMP014LW025:~/repos/isaac-sim-yarp-bridge/conf/ergocub$ YARP_ROBOT_NAME=ergoCubGazeboV1_1 YARP_CLOCK=/clock yarprobotinterface --config ergocub_isaacsim.xml