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Hi

I have a PR against kuka_experimental that adds support for KRC2. It works for me, but as far as i know it has not been tested by anyone else. Would be great if you can test this and see if it works.

Some warnings:
Using RSI the robot can move at full speed in teach mode.
Set the HOME and upper\lower bound variables to something suitable for your setup. They are in the configuration fold of ros_rsi.src

PR is at https://github.com/ros-industrial/kuka_experimental/pull/74

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