Upgrade robots to the latest NWS/NWC layers - 1

[davidetome]

This PR modifies XML files for the following robots :

• iCubGenova04
• iCubGenova02
• iCubErzelli01
• iCubErzelli02

The mods have been done starting from the default XML file contained in the yarprobotinterface.ini file (i.e. icub_all.xml)
The new files should be tested by the users.

@randaz81 , could you please have a look at them?

cc @pattacini @traversaro

[davidetome]

For this PR I tested on the robot the files for :

• iCubGenova02
• iCubGenova04

Also tested :

• iCubErzelli01
• iCubErzelli02

using DEBUG mode by adding these lines to the pc104.xml file :

    <group name="DEBUG">
        <param name="embBoardsConnected"> 0 </param>
    </group>

and setting in the general.xml file :

      <param name="skipCalibration">    true  </param>

This avoid yarprobotinterface terminating if not detects ETH boards; in this way, we test the correct parsing of the xml files.

cc @pattacini @Nicogene

[pattacini]

Great @davidetome 👍🏻
Just awaiting the outcome of the tests on iCubErzelli0x and then I'll merge the PR.

[pattacini]

Tested carried out successfully.
Merging.