ROS integration for the KUKA LBR IIWA R800/R820 (7/14 Kg).
Completely refactoring of the Java applications led to various improvements in terms of performance.
ConstantForce via SmartServo service
Added JointPositionVelocity commands
Tool selection from ROS param
CartesianPose published from the robot now depends on the tool selected
Fixed URDF xacro files
ROSMonitor shouts down cleanly