[iCubgenova09] Increase the frequency of the walking-controller to 500Hz

[GiulioRomualdi]

This PR starts from #132 and https://github.com/robotology/walking-controllers/pull/130 and it removes the code for streaming the FT data. In details:

• increase the Frequency of the walking controller to 500Hz (for iCubGenova09). Given that we had to modify the some safety logic for instance:
  • We increase the ZMP counter 920b694cfc943093cc9e668ed317f6518f38f274
  • Add the possibility to change the timeout behaviors to get the feedback 237a7778bf83b5a9bb6c1251b77a51152f66e73c

This PR brings also a new set of gains that have been widely tested during the last period

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After this PR we can close #130 while we can keep #132 for the demos

[GiulioRomualdi]

Thank you @S-Dafarra