Separate sensors actors #198
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This is another approach to solve ipa320/cob_robots#437
As discussed with @ipa-nhg today it is only one step and we still need to discuss how to restructure cob_hardware_config in order to achieve a smarter, i.e. module-oriented, configurability.
For the time being, with these changes we can get rid of the duplicate component macros
according PR for cob_robots is ipa320/cob_robots#565
I.e. whenever a sensor has been included in one of the component macros, it is now directly included in the respective robot.xacro directly
Furthermore, the new xacro arguments
dofXallows to choose which dof is revolute/fixed...thus, a single macro is able to be used as static/2dof/3dof versionLast not least, I applied the transmission simplification as proposed in ipa320/schunk_modular_robotics#178, too