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

[Mujtaba0011]

Is there any clean or official guidance (tutorial, documentation, or example repo) on how to create the description package for GoFa and set up the driver accordingly, especially for OmniCore with configure_with_rws set to false?

It would really help to have a step-by-step reference, even if it's just a minimal example.

Thanks again!