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Hi, right now we are always using a file called talos_gazebo_pose.launch, which is not standard distribution by PAL.

Some of us (including me) are manually putting it inside the talos_gazebo package, which is terrible. I know @frisbourg has made her own catkin package, which is better. However, as things stand, these launch files are not shared in any way, which is bad.

I thought it might be good to centralize these files and put them all in this repository. Therefore, I made a ros package called sot_talos_balance which is installed when we do make install.

The package can be found at ros/sot_talos_balance. Inside, there is a launch subfolder where we can put all of our launch files. I have already put a file called talos_gazebo_half_sitting.launch, which is simply the usual talos_gazebo_pose.launch with a more descriptive name. @frisbourg, you can add you own modified version here, with a proper name.

So now, after installing, you can do

roslaunch sot_talos_balance talos_gazebo_half_sitting.launch

P.S: right now, the installation is pretty brutal, i.e. I am just copying the whole sot_talos_balance package to ${CMAKE_INSTALL_PREFIX}/share. A cleaner implementation using catkin can be found in my fork on branch topic/catkin. I discarded it because it was also installing garbage environment-related stuff in /opt/openrobots. We can discuss about it