Migrate Jr3 to use YARP Multiple Analog Sensor Interfaces

[jgvictores]

See http://www.yarp.it/group__dev__iface__multiple__analog.html and robotology/yarp#1526 .

Note: Issue involves updating

1. https://github.com/roboticslab-uc3m/teo-configuration-files as described in Regression on how we use yarpscope due to MAS teo-configuration-files#27
2. https://github.com/roboticslab-uc3m/installation-guides/blob/695512226b313079aa83307611c7a25e0263a928/install-jr3.md#view-jr3-data
3. https://github.com/roboticslab-uc3m/yarp-devices/tree/master/examples

[PeterBowman]

The ISixAxisForceTorqueSensors interface has been implemented at 2475bb1 while still preserving IAnalogSensor (mapping calls between implementations to avoid code duplication). The device can be still instantiated as an analogServer's subdevice (as usual, via yarpdev --device Jr3), but now it can be also wrapped by the new MAS in this way:

yarpdev --device multipleanalogsensorsserver --subdevice Jr3 --name /jr3 --period 20

I guess we need to wait for YARP devs to learn whether they decide to keep or nuke analogServer.

Note that IAnalogSensors is still used in our examples: exampleJr3.cpp, exampleRemoteJr3.cpp, exampleRemoteJr3.py.

[PeterBowman]

The new ftCompensation app uses this MAS implementation of Jr3: roboticslab-uc3m/kinematics-dynamics#191.

[PeterBowman]

Our local C++/Python examples have been migrated to using the new MAS interface: de914de. Keep in mind there is no calibration (set-to-zero) method, therefore either restart the device or apply an offset programatically to achieve that.