Feature/rsi driver

[Svastits]

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[Svastits]

The enhancements implemented in this PR will be implemented in the kuka-external-control-sdk instead

[gavanderhoorn]

@Svastits: just so we understand correctly: RSI support is still planned, but the implementation strategy will be different?

Does #144 already work to add RSI support?

[Svastits]

Exactly, we still plan to improve RSI support: we will create a non-ROS2 client library/SDK, that we will use in the ROS2 driver.
#144 is only slightly related to this effort: the SDK is planned to have the same interface as the current kuka-external-control-sdk, which currently only support iiQKA cobots. Implementation of the RSI improvements is already ongoig, I can share more details in email :)

[gavanderhoorn]

Implementation of the RSI improvements is already ongoig, I can share more details in email

I'd be interested to learn more about this.

Especially about the current state of the RSI integration.

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Edit: FYI: @andreflorindo.