Fix serialPort_nws_yarp device to run faceExpressions on iCub*

[martinaxgloria]

I removed the faceExpressionsSim.xml.template since it's no more used and I added a new file called serialPortFaceExpressions.xml. The reason is that the device serialPort_nws_yarp could not be run with yarpdev which is deprecated (cc @randaz81) but it should be launched with the yarprobotinterface using the new xml file as config parameter.

This new configuration was tested on iCubGenova11 and it works properly, also in changing the face expressions through the rpc protocol.

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[randaz81]

For extra clarity: yarpdev is not currently deprecated, but it is unmaintained and it might be deprecated in the near future. Some old devices will still work, but new nws devices are developed and tested to be used only with yarprobotinterface.
Besides having a different plugin loader, yarprobotinterface supports attach operations between multiple devices, which is a fundamental feature for ROS/ROS2 compatibility.