Move generation of list of joint names to a separate launch file.

roscontrol_sot_tiago/config/sot_params.yaml

 sot_controller:
   libname: libsot-tiago-steel-controller.so
-  joint_names: [
-    torso_lift_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_finger_joint,
-    head_1_joint, head_2_joint  ]
   map_rc_to_sot_device: { motor-angles: motor-angles ,
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
   torques: torques, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0,
@@ -26,11 +22,20 @@ sot_controller:
       ros_control_mode: POSITION
     arm_7_joint:
       ros_control_mode: POSITION
-    gripper_finger_joint:
-      ros_control_mode: POSITION
     head_1_joint:
       ros_control_mode: POSITION
     head_2_joint:
       ros_control_mode: POSITION
+
+    gripper_finger_joint:
+      ros_control_mode: POSITION
+
+    hand_thumb_joint:
+      ros_control_mode: POSITION
+    hand_index_joint:
+      ros_control_mode: POSITION
+    hand_mrl_joint:
+      ros_control_mode: POSITION
+
   dt: 0.01
   jitter: 0.004

roscontrol_sot_tiago/config/sot_params_mobile_base.yaml

 sot_controller:
-  joint_names: [
-    wheel_left_joint, wheel_right_joint,
-    torso_lift_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_finger_joint,
-    head_1_joint, head_2_joint  ]
   control_mode:
     wheel_left_joint:
       ros_control_mode: VELOCITY

roscontrol_sot_tiago/launch/controller.launch

 <launch>
   <arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
+  <arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
   <arg name="simulation" default="false"/>
 
   <param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
 
+  <include file="$(find sot_tiago_bringup)/launch/sot_params.launch">
+    <arg name="end_effector" value="$(arg end_effector)"/>
+    <arg name="use_mobile_base" value="$(arg use_mobile_base)"/>
+  </include>
+
+
   <!-- Sot Controller configuration -->
   <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_params.yaml"/>
   <rosparam if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_params_mobile_base.yaml"/>

roscontrol_sot_tiago/package.xml

@@ -53,5 +53,6 @@
   <run_depend>cmake_modules</run_depend>
   <run_depend>roscontrol_sot</run_depend>
   <run_depend>controller_interface</run_depend>
+  <run_depend>sot_tiago_bringup</run_depend>
   <!-- The export tag contains other, unspecified, tags -->
 </package>

sot_tiago_bringup/launch/geometric_simu_context.launch

@@ -13,18 +13,16 @@
   <param name="robot_description"
     command="$(find xacro)/xacro.py '$(find tiago_description)/robots/tiago.urdf.xacro' end_effector:=$(arg end_effector)"/>
 
-  <arg     if="$(arg use_mobile_base)" name="mobile_base_joint_names" value="'wheel_left_joint', 'wheel_right_joint', " />
-  <arg unless="$(arg use_mobile_base)" name="mobile_base_joint_names" value="" />
-  <arg if="$(eval arg('end_effector') == 'schunk-wsg')" name="gripper_joint_names" value="'gripper_finger_joint', " />
-  <arg if="$(eval arg('end_effector') == 'pal-hey5'  )" name="gripper_joint_names" value="'hand_index_joint', 'hand_mrl_joint', 'hand_thumb_joint', " />
+  <include file="$(find sot_tiago_bringup)/launch/sot_params.launch">
+    <arg name="end_effector" value="$(arg end_effector)"/>
+    <arg name="use_mobile_base" value="$(arg use_mobile_base)"/>
+  </include>
 
   <!-- Load robot sot params. -->
   <group ns="sot">
     <rosparam param="tf_base_link">base_footprint</rosparam>
-    <rosparam param="state_vector_map" subst_value="True">[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]</rosparam>
   </group>
   <group ns="sot_controller">
-    <rosparam param="joint_names" subst_value="True">[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]</rosparam>
     <rosparam param="dt">0.01</rosparam>
   </group>
   

sot_tiago_bringup/launch/sot_params.launch

+<!-- -*-xml-*-
+     Set parameters /sot/state_vector_map and /sot_controller/joint_names according to the robot model.
+  -->
+<launch>
+  <arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
+  <arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
+
+  <arg     if="$(arg use_mobile_base)" name="mobile_base_joint_names" value="'wheel_left_joint', 'wheel_right_joint', " />
+  <arg unless="$(arg use_mobile_base)" name="mobile_base_joint_names" value="" />
+  <arg if="$(eval arg('end_effector') == 'schunk-wsg')" name="gripper_joint_names" value="'gripper_finger_joint', " />
+  <arg if="$(eval arg('end_effector') == 'pal-hey5'  )" name="gripper_joint_names" value="'hand_index_joint', 'hand_mrl_joint', 'hand_thumb_joint', " />
+
+  <!-- Load robot sot params. -->
+  <group ns="sot">
+    <rosparam param="state_vector_map" subst_value="True">[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]</rosparam>
+  </group>
+  <group ns="sot_controller">
+    <rosparam param="joint_names" subst_value="True">[ $(arg mobile_base_joint_names) "torso_lift_joint", "arm_1_joint", "arm_2_joint", "arm_3_joint", "arm_4_joint", "arm_5_joint", "arm_6_joint", "arm_7_joint", $(arg gripper_joint_names) "head_1_joint", "head_2_joint" ]</rosparam>
+  </group>
+</launch>