I added a short readme and one photo in the assets.

Done, thanks for the suggestions!

I think I can safely merge the PR.
Possible refinements can be applied at a later stage, @marcoaccame @valegagge

Obviously, the correctness of the value of each parameter will be done using the real setup.

Already tested ✅
Nice suggestion anyway 👍🏻

I don't know if you already did, but to test if your configuration doesn't contain typos or some parameters are missing I suggest running yarprobotinterface with the parameter

 <group name="DEBUG">
        <param name="embBoardsConnected"> 0 </param>
</group>

in the general.xml file. In this way, yarprobotinterface starts and parsers all the files without checking the connected board.

Thanks! I didn't knew that!