Basic support for KR cybertech 16 R1610

it has nothing in common with the traditional KR16-2, therefore it resides in its own package

Author: simonschmeisser

kuka_cybertech_kr16_r1610_support/CMakeLists.txt

@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 2.8.3)
+
+project(kuka_cybertech_kr16_r1610_support)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+if (CATKIN_ENABLE_TESTING)
+  find_package(roslaunch REQUIRED)
+  roslaunch_add_file_check(test/roslaunch_test.xml)
+endif()
+
+install(DIRECTORY config launch meshes urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

kuka_cybertech_kr16_r1610_support/config/joint_names_kr16_r1610.yaml

@@ -0,0 +1 @@
+controller_joint_names: ['joint_a1', 'joint_a2', 'joint_a3', 'joint_a4', 'joint_a5', 'joint_a6']

kuka_cybertech_kr16_r1610_support/launch/load_kr16_r1610.launch

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+<?xml version="1.0"?>
+<launch>
+  <!-- Load robot description to parameter server -->
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_cybertech_kr16_r1610_support)/urdf/kr16_r1610.xacro'"/>
+</launch>

kuka_cybertech_kr16_r1610_support/launch/test_kr16_r1610.launch

@@ -0,0 +1,9 @@
+<?xml version="1.0"?>
+<launch>
+  <include file="$(find kuka_cybertech_kr16_r1610_support)/launch/load_kr16_r1610.launch" />
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true" />
+  </node>
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find industrial_robot_client)/config/robot_state_visualize.rviz" required="true" />
+</launch>