In position control, send currents, accelerometer and gyrometer to SOT.

roscontrol_sot_talos/config/sot_talos_params.yaml

@@ -7,8 +7,8 @@ sot_controller:
     arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint
   ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
-  joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-joints: control, cmd-effort: control }
+  joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
+  torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
   position_control_init_pos:
     - name: leg_left_1_joint
       des_pos: 0.0

roscontrol_sot_talos/config/sot_talos_params_gazebo.yaml

@@ -8,8 +8,8 @@ sot_controller:
     arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint, head_1_joint, head_2_joint
   ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
-  joint-angles: joint-angles, velocities: velocities,
-  torques: torques, cmd-joints: control, cmd-effort: control }
+  joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
+  torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
   position_control_init_pos:
     - name: leg_left_1_joint
       des_pos: 0.0