Add the static 2f-85 model and corresponding macro

Author: civerachb-cpr

robotiq_2f_85_gripper_visualization/meshes/robotiq_2f_85.stl

@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <xacro:macro name="robotiq_2f_85_static" params="parent prefix *origin">
+    <link name="${prefix}_base_link">
+      <visual>
+        <geometry>
+          <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/robotiq_2f_85.stl" />
+        </geometry>
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+        <material name="black" />
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://robotiq_2f_85_gripper_visualization/meshes/robotiq_2f_85.stl" />
+        </geometry>
+        <origin xyz="0 0 0" rpy="1.5708 0 0" />
+      </collision>
+    </link>
+
+    <joint name="${prefix}_base_joint" type="fixed">
+      <parent link="${parent}" />
+      <child link="${prefix}_base_link" />
+      <xacro:insert_block name="origin" />
+    </joint>
+  </xacro:macro>
+</robot>