Update gz-sim-yarp-plugin to yarp4

[martinaxgloria]

Description

Similar to:

• Port icub-main to yarp4 icub-main#1056

we need to address the porting of gz-sim-yarp-plugings to yarp4.

DoD

The plugins have been ported to yarp4 functionalities.

cc @Nicogene @valegagge

[Nicogene]

In order to make more straightforward the merge of this work upstream, it would be nice to have a soft transition like:

• aligned ergocub-software with yarp4 mesh-iit/ergocub-software#340

[martinaxgloria]

Part of the work was already done:

• Add support for YARP 4.0.0 keeping backward compatibility with YARP 3.12  #281

Plugins already ported:

• Camera
• DepthCamera

[martinaxgloria]

First draft of PR opened:

• Add YARP 4.0.0 support for controlboard plugin #307

Some of the checks are failing due to the fact that some methods changed names, so this should be handled with #ifdef options.