[ergoCubSN001] Add a head-mc network wrapper a lower streaming freque…

…ncy (#616)

ergoCubSN001/ergocub_wbd.xml

@@ -40,6 +40,7 @@
 
     <xi:include href="wrappers/motorControl/head-mc_wrapper.xml" />
     <xi:include href="wrappers/motorControl/head-mc_remapper.xml" />
+    <xi:include href="wrappers/motorControl/head-mc-slow_wrapper.xml" />
 
     <!-- HEAD -->
     <xi:include href="hardware/motorControl/head-eb20-j0_1-mc.xml" />
@@ -118,14 +119,14 @@
     <xi:include href="wrappers/inertials/right_leg-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/left_foot-imu_wrapper.xml" />
     <xi:include href="wrappers/inertials/right_foot-imu_wrapper.xml" />
-    
+
     <!-- BATTERY BAT -->
-    <xi:include href="wrappers/battery/battery_bat.xml" /> 
-    <xi:include href="hardware/battery/battery_bat.xml" /> 
-    
+    <xi:include href="wrappers/battery/battery_bat.xml" />
+    <xi:include href="hardware/battery/battery_bat.xml" />
+
     <!-- BATTERY BMS -->
-    <xi:include href="wrappers/battery/battery_bms.xml" /> 
-    <xi:include href="hardware/battery/battery_bms.xml" /> 
+    <xi:include href="wrappers/battery/battery_bms.xml" />
+    <xi:include href="hardware/battery/battery_bms.xml" />
 
     <!--  CALIBRATORS -->
     <xi:include href="calibrators/torso-calib.xml" />

ergoCubSN001/wrappers/motorControl/head-mc-slow_wrapper.xml

@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE devices PUBLIC "-//YARP//DTD yarprobotinterface 3.0//EN" "http://www.yarp.it/DTD/yarprobotinterfaceV3.0.dtd">
+
+<device xmlns:xi="http://www.w3.org/2001/XInclude" name="head-mc-slow_nws_yarp" type="controlBoard_nws_yarp">
+    <param name="period"> 0.02  </param>
+    <param name="name"> /ergocub/head_slow   </param>
+    <action phase="startup" level="10" type="attach">
+            <param name="device">  head-mc_remapper </param>
+    </action>
+    <action phase="shutdown" level="15" type="detach" />
+</device>