WIP ros2_control ABB Driver

Dependencies:

• https://github.com/dignakov/abb
• https://github.com/dignakov/abb_experimental
• https://github.com/ros-industrial/abb_libegm

Compiling:

Please follow the directions here https://github.com/ros-controls/ros2_control_demos to set up ros2_control, ros2_controllers, and ros2_control_demos.

For now the directory structure should look something like this to have everything compile:

colcon_ws/src
|
├── abb (https://github.com/dignakov/abb)
├── abb_experimental (https://github.com/dignakov/abb_experimental)
├── abb_libegm (https://github.com/ros-industrial/abb_libegm)
└── ros2_control_abb_driver

ABB Driver:

For testing, this needs a real robot or RobotWare compatible with libegm. More details will be added soon.