Support for ABB GoFa 15000

[AnirbanSinhaRobotics]

Hi,

I want to use abb_ros2 to control ABB GoFa 15000 robot. From the readme file of the abb_ros2, it looks like ABB GoFa 15000 model is not supported yet since its MoveIt config files are unavailable. It will be very helpful to know the answers of the following questions,

• Is there any plan to add ABB GoFa model to the abb_ros2?
• What will be the setup for the OmniCoreC30 controllers to use abb_ros2 through EGM?

[Yadunund]

You should be able to command a GoFa with this driver. You'll need to create the description package yourself.
To work with Omnicore controllers, you'll need to to set the configure_with_rws to false. See this PR for details #56