Add battery configuration files

[MSECode]

This PR brings the following changes:

• Update the battery experimental setup

• Now the experimentalSetups/battery configuration can be used with:

  • only the BAT board connected to the EMS
  • only the BMS board connected to the EMS
  • both BAT and BMS boards connected to different EMS boards as for the ergoCub robot

• Update test battery files to used both BMS and BAT streaming to different ports using the coupled battery bms+bat together

[MSECode]

cc: @valegagge