Can I use ROS with the kuka roboter KR 16 R1610?

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We don't have support for the R1610 variant yet I believe, but if you have RSI on your controller (and either a C2 or a C4) then the wiki/kuka_rsi_hw_interface could be one option (readme here).

Adding support for a new robot variant is relatively trivial, and consists of converting the meshes to a usable format (stl or dae) and modeling the kinematics using xacro/urdf.

You can probably use the existing kuka_kr16_support package as a template.