Adding README.txt explaining barrett-ros-pkg and installation instructions.

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+barrett-ros-pkg -- README
+Barrett Technology Inc.
+2012-05-11
+
+Barrett Technology's ROS repository is an abstraction of Libbarrett.  Libbarrett
+is a real-time controls library written in C++ that runs Barrett Technology's 
+products, including the WAM Arm and the BH8-280 BarrettHand.
+
+Our ROS repository requires an installed version of Libbarrett.  To check out 
+the latest version of Libbarrett:
+
+svn http://web.barrett.com/svn/libbarrett/tags/libbarrett-1.0.0rc1
+
+Please view the README.txt file within Libbarrett for installation instructions.
+
+The wam_robot stack is designed to be run on a WAM PC-104 or external control 
+PC.  
+
+The wam_common stack is designed as the interface to communicate with the 
+functionality exposed by the wam_node.
+
+The wam_sim stack is in development and should be released shortly.
+
+Please contact us with any functionality or feature requests.  We appreciate 
+contributions and collaborations.
+
+Libbarrett is free software: you can redistribute it and/or
+modify it under the terms of the GNU General Public License as published by the
+Free Software Foundation.
+
+Contact us at:
+support@barrett.com
+http://www.barrett.com/
++1-617-252-9000
+
+Barrett Technology
+625 Mount Auburn Street
+Cambridge, MA 02138
+USA