Refactor YarpRobotLoggerDevice for improved logging control

[GiulioRomualdi]

This PR introduces new RPC commands for recording and stopping recordings, while reducing code duplication. Morover I added the possibility to avoid starting recording by default making possible to add the logger to a classical yarp robot interface asssociated to the robot

[GiulioRomualdi]

This depends on #1032

[traversaro]

fyi @gbionics/team-phoenix I think this is a really great addition to the logger, as it permits to write a lerobot-record-like command (or even add the functionality to lerobot-record, not sure if that is possible) that on startup starts the logger, and on closure stop the logger and move the created file somewhere.

[GiulioRomualdi]

In 7a7db20 I added again what @S-Dafarra mentioned in #1032 (comment)

[GiulioRomualdi]

Memcheck fails :(

[S-Dafarra]

It seems there is an issue on the yarp side, but not realted to memory leaks. In release, I see the following errors

Release

  Error: 4-07 13:50:42.123] [thread: 16633] [blf] [error] [ClockBuilder::setFactory] The clock has been already called. Since the clock() returns a singleton it is not possible to set the factory anymore. Please call 'setFactory()' at the beginning of your application to avoid this problem.
...
  Error:  Cannot write to yarp name server
  [INFO] Logging data..
  Error:  Cannot write to yarp name server
...
  [INFO] |yarp.os.impl.PortCoreOutputUnit|/test/rpc:o| Removing output from /test/rpc:o to /yarp-robot-logger/commands/rpc:i
  [INFO] |yarp.os.impl.PortCoreInputUnit|/yarp-robot-logger/commands/rpc:i| Removing input from /test/rpc:o to /yarp-robot-logger/commands/rpc:i
  /home/runner/work/bipedal-locomotion-framework/bipedal-locomotion-framework/devices/YarpRobotLoggerDevice/tests/YarpRobotLoggerDeviceTest.cpp:356: FAILED:
    {Unknown expression after the reported line}
  due to a fatal error condition:
    SIGSEGV - Segmentation violation signal

Debug

  Error:  |yarp.os.Port|/yarp-robot-logger/commands/rpc:i| Port /yarp-robot-logger/commands/rpc:i failed to activate at tcp://127.0.0.1:10002/ (address conflict)
  Error: 4-07 13:51:46.707] [thread: 16523] [blf] [error] [YarpRobotLoggerDevice::open] Could not open
  Error:  |yarp.dev.PolyDriver|yarp-robot-logger| Driver <YarpRobotLoggerDevice> was found but could not open
  Warning:  Cannot open device yarp-robot-logger
  Warning:  Cannot open device yarp-robot-logger
  Warning:  There was some problem opening one or more devices. Please check the log and your configuration
  Error:  One or more devices failed opening... see previous log messages for more info
  [INFO] Closing device yarp-robot-logger
  [INFO] Closing device sim_imu
  [INFO] Closing device sim_controlboard

Maybe there is some cross talk between tests?

[S-Dafarra]

I had some struggle in the past with yarpserver in local mode. At this point, it might be worth simply running a yarpserver in background as in https://github.com/gbionics/isaac-sim-yarp-bridge/blob/main/.github/workflows/conda-forge-ci.yml#L81-L102

[GiulioRomualdi]

Development moved in #1036