Selective merge of feature-egm branch into master

[rtkg]

Changes

• no dependencies on the unreleased abb_egm_interface and abb_rws_interface packages in yumi_hw and yumi_cameras
• added vel/pos controllers for both arms in yumi_control/config
• added traj controllers for both arms in yumi_control/config
• included install directives in the CMakeList.txt files which are necessary for a future release
• removed KTH accessories and KTH setup related features in yumi_description and yumi_launch

TODO

Tested only in simulation - test on the actual robot with the launch files in yumi_launch; might need changes in yumi_support/yumi_hw

[YoshuaNava]

Hey,
I'll be running tests on the real robot tomorrow. I'll keep you updated on the results.

[YoshuaNava]

I just checked this pull request, and fixed some network parameters, to have yumi_support running properly with the left arm, right arm, and the grippers.

I also commented the ROS controllers action servers from MoveIt! controllers.yaml, so that its ready to use the left/righ arm controllers faster.

For running yumi_support we need industrial core MAX_NUM_JOINTS to be equal to 10. We should add a comment regarding this somewhere.

About the RWS interface to ROS control (not yumi_support), we haven't used it at KTH. Do you also want me to check it? Are we providing support for it?

Update: I set up the RWS interface, and tested it. It works well. The movement is kind of jerky when using a trajectory_position_controller, though, but I suppose this is due to the controller tuning. I committed all the recent changes just now.