Migrate publishers from ROS to ROS2

[lrapetti]

As a follow-up of the comment from @traversaro in https://github.com/robotology/human-dynamics-estimation/issues/311#issuecomment-1412718915, I am opening a dedicated issue for this migration.

[lrapetti]

An alternative that might be considered (if it it partially solved the issues), could be to avoid using the publishers, and to use the HumanControlBoard device that exposes the human model kinematics, and joint torques, as yarp control board, plus the shoes wrenches can be exposed as analogue port. I think from there, we are replicating the data exposed by a robot, so I think we can use some of the existing software used for the iCub robot (https://github.com/orgs/robotology/discussions/610).

The main missing part in this case would be the visualization of the joint torques as spheres.