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Fix masses and COGs of robot links
Add support for UR7e and UR12e to - ur_description - ur_gazebo - ur_7e_moveit_config - ur_12e_moveit_config
They have been updated from the CAD model and should be more accurate than the cylinder approximations
…al#698) Since the 20.04 runners aren't available anymore, we have to run on a newer version. Since the ICI runs use their own docker containers this shouldn't be an issue. I also removed the melodic builds and updated the build badge on the README.
Keeps us in control of which runner image is used to run actions on.
* [ur_description] Add UR15 support * Add ur15_moveit_config package * [ur_gazebo] Add UR15 support * Add ur_kinematics for UR15
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Rebasing the repository to the upstream