Add crb15000 support package

[ggorjup]

This PR adds support for the ABB crb15000_5_95 and crb15000_10_152 robot.

[pucciland95]

Hi @ggorjup, may I ask you if you also tested the real robot with this pkg? Does it work?

Cheers

Niccolò

[ggorjup]

Hi @pucciland95, this was not yet tested on the real robot.
Currently it is only used in simulation - the real hardware won't be available for another couple of months.

Cheers,
Gal

[tgaspar]

I've just tested this with the real robots, both Gofa 5 (crb15000_5_95) and Gofa 10 (crb15000_10_152). I noted zero issues.

I would like to ask the maintainers of this repo to consider merging the PR

[Yadunund]

Thanks for confirming @tgaspar! There was a discussion earlier with @gavanderhoorn to move all the robot description (and moveit configs) out of this repo and into https://github.com/ros-industrial/abb. I believe the blocker was porting the existing descriptions there to ROS 2. That way we only store the hardware interface here which would make it easier to release on the ROS buildfarm.
What do you say about collaborating on the port? after that we can have this PR target that repo too.

[tgaspar]

This sounds like an excellent idea! Both in term of taking the descriptions out of here and collaborating. I have been using this specific package for the last couple of weeks and I think I can contribute a little.

Question: From what I see, the repo https://github.com/ros-industrial/abb does not contain <ros2_control> XMLs. Would those stay here?

[Yadunund]

Question: From what I see, the repo https://github.com/ros-industrial/abb does not contain <ros2_control> XMLs. Would those stay here?

Good question. I would argue for keeping those XMLs in the description package but I can also see the argument for it not being appropriate there since folks might want to use these descriptions or even control these robots without using ros2_controls..
My recommendation is keep since it's harmless even in the latter cases.