[skip ci] yaml templates added or modified

yaml_templates/processor/ProcessorCompass.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool

yaml_templates/processor/ProcessorImu2d.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool

yaml_templates/processor/ProcessorImu2dTester.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool

yaml_templates/processor/ProcessorImu3d.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool

yaml_templates/processor/ProcessorImu3dTester.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The processor"s name. It has to be unique. - TYPE string
+sensor_name: "whatever"  # DOC The name of the sensor corresponding to this processor. - TYPE string
 time_tolerance: 0.0  # DOC Maximum time difference between a Keyframe time stamp and a particular Capture of this processor to allow assigning this Capture to the Keyframe. [s]. - TYPE double
 keyframe_vote:
   voting_active: false  # DOC If the processor is allowed to decide to create a frame. - TYPE bool

yaml_templates/sensor/SensorCompass.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+enabled: true  # OPTIONAL - DOC Whether the sensor is enabled or not. If not, captures will not be processed when calling process(). - TYPE bool
 stdev_noise: 0.0  # DOC standard deviation of the compass measurements (square root of the covariance matrix diagonal). - TYPE double
 states:
   P:

yaml_templates/sensor/SensorImu2d.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+enabled: true  # OPTIONAL - DOC Whether the sensor is enabled or not. If not, captures will not be processed when calling process(). - TYPE bool
 w_noise: 0.0  # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
 a_noise: 0.0  # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
 orthogonal_gravity: false  # DOC If the gravity is orthogonal to Z axis (i.e. it is measured by accelerometers X and Y) - TYPE bool
 states:
-  P:
-    prior:
-      {}
-  O:
-    prior:
-      {}
   I:
     dynamic: false  # DOC If the bias are dynamic, i.e. they change along time. - TYPE bool
     value: [0, 0, 0]  # OPTIONAL - DOC A vector containing the IMU 2d bias values. Default: zeros - TYPE Vector3d

yaml_templates/sensor/SensorImu3d.yaml

 type: "whatever"  # DOC The class name - TYPE string
 plugin: "whatever"  # DOC plugin where the class is implemented - TYPE string
 name: "whatever"  # DOC The sensor"s name. It has to be unique. - TYPE string
+enabled: true  # OPTIONAL - DOC Whether the sensor is enabled or not. If not, captures will not be processed when calling process(). - TYPE bool
 w_noise: 0.0  # DOC standard deviation of the gyroscope measurements (square root of the covariance matrix diagonal). - TYPE double
 a_noise: 0.0  # DOC standard deviation of the accelerometer measurements (square root of the covariance matrix diagonal). - TYPE double
 states:
-  P:
-    prior:
-      {}
-  O:
-    prior:
-      {}
   I:
     dynamic: false  # DOC If the bias are dynamic, i.e. they change along time. - TYPE bool
     value: [0, 0, 0, 0, 0, 0]  # OPTIONAL - DOC A vector containing the IMU bias values. Default: zeros - TYPE Vector6d