Cleanup use of virtualAnalogRemapper device

[traversaro]

Currently wholebodydynamics uses the VirtualAnalogRemapper device to publish the torque estimates. This is necessary as the controlBoardRemapper does not supports out of the box the IVirtualAnalogSensors interfaces.

The reason for this is historical. While embObjMotionControl implement IVirtualAnalogSensors, and so there the IVirtualAnalogSensors basically acts as any other controlboard interfaces, back in pure-CAN iCub robots, the IVirtualAnalogSensors interface was not implemented by CanBusMotionControl, but rather a different device called CanBusVirtualAnalogSensors, so it was not possible to use the same remapper for both controlboardinterfaces and virtualanalogsensors. Now that support for CAN-based robots have been dropped, I think the cleanest solution is just to add support for IVirtualAnalogSensors interface to controlboardremapper, and call it a day.

This is important as in blf @isorrentino is using the virtualAnalogRemapper device in https://github.com/ami-iit/bipedal-locomotion-framework/blob/78bae85d6b39f20633a669a951f12acb482df127/devices/RobotDynamicsEstimatorDevice/src/RobotDynamicsEstimatorDevice.cpp#L535-L565 , but then it was passing to it just normal controlBoardRemapper, and it was confused as it was not working.

fyi @GiulioRomualdi @LoreMoretti