Add IRB14000 (Yumi) support package

[ggorjup]

Hello, this PR adds support for the IRB14000 (bimanual Yumi) robot.

The meshes and descriptions are adapted from yumi_crew/yumi, which I believe is based on kth-ros-pkg/yumi and OrebroUniversity/yumi. The description macros were restructured and modularized.

This package was tested with a simulated and real IRB14000 (bimanual Yumi) on RobotWare 6.16.0, with the SmartGripper and StateMachine add-in.

#79 is required to correctly resolve the joint names, since this is a system with multiple mechanical unit groups (two arms).

[larshg]

Suggested change

	<exec_depend>joint_state_publisher</exec_depend>
	<exec_depend>joint_state_publisher</exec_depend>
	<exec_depend>joint_state_publisher_gui</exec_depend>

[ggorjup]

Thanks! Actually it seems that joint_state_publisher isn't even used, so I'll just replace it with joint_state_publisher_gui.

[Yadunund]

Thanks for the PR! It's great to see a description for the Yumi. We've had a couple discussion before in this repository to not house description packages here but find a way to move these into existing repos containing abb descriptions like
https://github.com/ros-industrial/abb.

What are your thoughts on ros-industrial/abb#200?

[ggorjup]

I think the linked initiative in the makes sense, it would be good to have a unified source for the descriptions.
At the moment I can't commit to large ports/refactors that are mentioned in the discussion, but I can try to help with some smaller things.

[gavanderhoorn]

To clarify:

At the moment I can't commit to large ports/refactors that are mentioned in the discussion, but I can try to help with some smaller things.

as I posted in ros-industrial/abb#200 (comment), the steps in ros-industrial/abb#200 (comment) have all been completed - except the actual migration. All outstanding PRs were merged, all support packages from abb_experimental were migrated.