The amc board uses ICC and CAN to move the wrist of ergoCub

[marcoaccame]

This PR belongs to a set of five PRs on icub-firmware, icub-firmware-shared, icub-firmware-build, icub-main and robots-configuration.

They introduce a new MC service that supports actuators located on the second core of the new dual core ETH boards that run the outer control loop at 1 ms. So far the only dual core board we use is the amc which runs on the first CM7 core and uses an actuator board on its CM4 core: the amc2c.

See robotology/icub-firmware#474 for details

Linked PRs

• The amc board uses ICC and CAN to move the wrist of ergoCub.  icub-firmware#474
• The amc board uses ICC and CAN to move the wrist of ergoCub icub-firmware-shared#93
• amc v2.0, ems v3.85, mc4plus v3.88, mc2plus v3.67, amc2c v 3.0.0, amcbldc v 2.0.10 icub-firmware-build#141
• The amc board uses ICC and CAN to move the wrist of ergoCub icub-main#948

[pattacini]

CI failed:

• ❌ dry-run_ergoCubSN001_dev
• ❌ dry-run_ergoCubSN002_dev

Note

This probably due to the fact that we need to merge the PR's above first, and then regenerate the docker image used by the CI.

[pattacini]

cc @robotology/iit-ami-scrum-masters

[pattacini]

Docker image is being rebuilt:

• https://github.com/robotology/robots-configuration/actions/runs/8153437231

[pattacini]

CI passed ✅

[pattacini]

Hi @robotology/iit-ami-scrum-masters

We are gonna deploy ourselves these new files implementing the ICC modality on the robot.

cc @marcoaccame @Nicogene