Add minimum Euslisp interface to baxterlgv7

[pazeshun]

What I did

1. Make baxterlgv7.l and baxterlgv7-interface.l by copying baxter.l and baxter-interface.l
2. Enable to move left gripper_v7
   • Change file name in require
   • Change class name
   • Fix how to move fingers because each finger of left gripper_v7 model has 3 joints (previous: 2 joints).
   • In order to move *baxter* realistically, I added some trick in :hand-grasp-pose as 2 joints out of 3 don't move separately.
3. Fix :start-grasp and :stop-grasp to move in left gripper_v7

What I haven't finished

• Move whole baxterlgv7
• Add moveit config of baxterlgv7

[knorth55]

it looks your code is correct, but i could not check it.
Can you add test code?
Or can you add video that proves these code can surely moves your gripper?

[pazeshun]

Sorry for lacking test code.
I'll make test code checking following

• Generation of *baxter* and *ri*
• Finger movement in :hand-grasp-pre-pose and :hand-grasp-pose

Thank you for nice suggestion about video.
I'll take video proving *ri* function.

[pazeshun]

Add test code.
Other minor fix: Add baxter-interface test to CMakeLists.txt (lacking in #2500)

[pazeshun]

• Remove :speak test
  • Because :speak is defined and tested in pr2eus (pr2eus: add text-to-spech method to robot-interface jsk-ros-pkg/jsk_pr2eus#318, pr2eus: partially revert speak function jsk-ros-pkg/jsk_pr2eus#332)
  • If we want to pass this test, we need to use pr2eus from source in travis as the change above is not released.
• Add :move-hand test instead

[pazeshun]

Test passed.
@knorth55 Currently I can't take video because new gripper is broken and fixing takes time.
Please approve this PR if you feel ok for lacking video.

[pazeshun]

Thanks!