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Decouple the xacro files #349

@mhubii

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@mhubii

It would be desirable to replace the iwa7_description.xacro with a iiwa7.urdf.xacro (these would then be compiled by xacro into a raw urdf file), removing all ros2_control related plugins and moving the plugins to the iiwa7.xacro file instead:

  1. Includes

    <xacro:include filename="$(find lbr_description)/gazebo/lbr_gazebo.xacro" />

  2. Macros

    <!-- macros for gazebo / mock / hardware -->

Same applies to iiwa14 / med7 / med14.

Briefly running through this procedure highlights the potentially redundant nature of

Specifying these limits exclusively in the urdf file might be beneficial.

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