Add Kuka KR 16 R1610 cybertech support

[simonschmeisser]

This adds support for the Kuka cybertech KR16 R1610 model. It does not have that much in common with the Kuka KR16-2 already supported. Therefore I added completely separate packages.

In the technical specification [1] it is referred to as "kr16 r1610" ie omitting the "cybertech" part. I added it to the package name anyway as it helps in distinguishing the product lines. We will test this one on real hardware starting next week so it should not be merged yet. I would however be grateful about naming advice and therefore open the PR already.

https://www.kuka.com/-/media/kuka-downloads/imported/48ec812b1b2947898ac2598aff70abc0/spez_kr_cybertech_en.pdf

[simonschmeisser]

Just a small update: this package has been used and tested extensible now.

The ikfast plugin was created on kinetic and seems to create problems here on indigo (C++98vsC++11?)

[simonschmeisser]

@gavanderhoorn @BrettHemes I would be really grateful for some feedback on naming. We have a current request from a client for the new Kuka Ionic KR70 R2100 and same as here I'm wondering if it should be kuka_cybertech_kr16_support or an addition to kuka_kr16_support or similarily for the Ionic kuka_ionic_kr70_support vs kuka_kr70_support

[BrettHemes]

Not really sure here, but we haven't used the informal series names anywhere else in the package names (e.g. Agilus). They are, I believe, mentioned in the manifests. I think it comes down to preference. I would vote for consistency, however.

[simonschmeisser]

This now follows the naming standards of having the variant last. I think the cybertech should not be omitted as there is also a KR 16 R1610-2 (PR upcoming ...)

[gavanderhoorn]

CMakeLists.txt and the package.xml appear to be in a kuka_cybertech_kr16_r1610_support directory according to github?

And roslaunch_test.xml as well.

[gavanderhoorn]

High-level comment (which I've also placed in-line): I'd like us to consider adding an underscore before the family modifier, so we'd get kuka_kr16r1610_cybertech.

I've left some other in-line comments.

[gavanderhoorn]

Could you please also rename this test?