abb_robot_driver joint_trajectory_controller test

This is just a test (20/06/2021) of the new ABB ROS driver that allows real time motion control of the robot using EGM, RWS ABB modules and the StateMachine Addin. Note the use of the sliders controlling each joint using the joint_trajectory_controller app from rqt wich validates the "real time" control part. (With the old abb_driver for ROS there was only allowed motion download method; firstly joint values where downloaded in the robot controller, then executed as a set of JointTarget values in a RAPID routine, thus making not posible high rate motion control.) Credits and thanks to the developers of such packages, find more about it here: https://github.com/ros-industrial/abb_robot_driver