Dave Coleman

+1 to a ROS 2 driver, PickNik's UR5 badly needs one to support development of the [MoveIt 2 project](https://moveit.ros.org/)!

Update: the driver is ready for beta testers, [announcement here](https://picknik.ai/ros2/moveit2/ros2_control/2021/02/09/ur-ros2-driver-announcement.html), but still plenty of work to be done.

Thanks for reporting @gavanderhoorn Note we do have a [joint_limit_interface](https://github.com/ros-controls/ros_control/tree/melodic-devel/joint_limits_interface) in ros_control, it just needs to be integrated into the ur_modern_driver. Here's some [example code](https://github.com/PickNikRobotics/ros_control_boilerplate/blob/melodic-devel/src/generic_hw_interface.cpp#L121)

i see lots of catkin lint errors...

Yes, we should definitely remove that .so file

I'm not sure if we have clarity on if @JafarAbdi can start doing releases, need to run it by @rhaschke. I'll move this to a new thread.

@JStech can you update this to "WIP" since I believe it was never finished? Or put a little more time into it to get it across the line?

@bostoncleek think this could get merged now?

@bostoncleek could you fix the conflict? @JafarAbdi would be a good candidate to review and merge this, given his extensive work with MTC

Do I understand correctly that this PR got merged into MoveIt 2, but is still open here for MoveIt 1? Do we want to abandon this effort for MoveIt 1?...