Fix usage of use_mobile_base.

roscontrol_sot_tiago/config/sot_tiago_params.yaml

 sot_controller:
-  libname: libsot-tiago-steel-without-wheels-controller.so
+  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,

roscontrol_sot_tiago/config/sot_tiago_params_gazebo_with_mobile_base.yaml

-sot_controller:
-  libname: libsot-tiago-steel-without-wheels-controller.so
-  simulation_mode: gazebo
-  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  ]
-  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,
-  control: control
-  }
-  control_mode:
-    wheel_left_joint:
-      ros_control_mode: VELOCITY
-    wheel_right_joint:
-      ros_control_mode: VELOCITY
-    torso_lift_joint:
-      ros_control_mode: POSITION
-    arm_1_joint:
-      ros_control_mode: POSITION
-    arm_2_joint:
-      ros_control_mode: POSITION
-    arm_3_joint:
-      ros_control_mode: POSITION
-    arm_4_joint:
-      ros_control_mode: POSITION
-    arm_5_joint:
-      ros_control_mode: POSITION
-    arm_6_joint:
-      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
-  dt: 0.01
-  jitter: 0.004

roscontrol_sot_tiago/config/sot_tiago_params_with_mobile_base.yaml

 sot_controller:
-  libname: libsot-tiago-steel-controller.so
-  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  ]
-  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,
-  control: control
-  }
   control_mode:
     wheel_left_joint:
       ros_control_mode: VELOCITY
     wheel_right_joint:
       ros_control_mode: VELOCITY
-    torso_lift_joint:
-      ros_control_mode: POSITION
-    arm_1_joint:
-      ros_control_mode: POSITION
-    arm_2_joint:
-      ros_control_mode: POSITION
-    arm_3_joint:
-      ros_control_mode: POSITION
-    arm_4_joint:
-      ros_control_mode: POSITION
-    arm_5_joint:
-      ros_control_mode: POSITION
-    arm_6_joint:
-      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
-  dt: 0.01
-  jitter: 0.004

roscontrol_sot_tiago/launch/sot_tiago_controller.launch

 <launch>
-  <arg name="use_mobile_base" default="true"/>
+  <arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
+
+  <param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
 
   <!-- Sot Controller configuration -->
-  <rosparam     if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_with_mobile_base.yaml"/>
-  <rosparam unless="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params.yaml"/>
-  <rosparam     if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params.yaml"/>
+  <rosparam if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_with_mobile_base.yaml"/>
+  <rosparam if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
   <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_controller.yaml" />
   
   <!-- Spawn walking controller -->

roscontrol_sot_tiago/launch/sot_tiago_controller_gazebo.launch

 <launch>
-  <arg name="use_mobile_base" default="true"/>
+  <arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
+
+  <param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
 
   <!-- Sot Controller configuration -->
-  <rosparam     if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo_with_mobile_base.yaml"/>
-  <rosparam unless="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo.yaml"/>
-  <rosparam     if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
+  <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_gazebo.yaml"/>
+  <rosparam if="$(arg use_mobile_base)" command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params_with_mobile_base.yaml"/>
+  <rosparam if="$(arg use_mobile_base)" command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
   <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_controller.yaml" />
 
   <!-- Spawn walking controller -->

sot_tiago_bringup/launch/geometric_simu.launch

@@ -3,21 +3,22 @@
   -->
 <launch>
   <!-- Which robot are we controlling ? -->
+  <arg name="use_mobile_base" doc="Whether SoT should control the mobile base"/>
   <arg name="robot" default="tiago" />
   <arg name="libsot" default="libsot-tiago-steel-controller.so" />
 
   <arg name="sot-launch-prefix" default="" />
 
   <include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch" >
-    <arg name="robot" value="$(arg robot)" />       
-    <arg name="libsot" value="$(arg libsot)" />
   </include>
 
+  <param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>
+
   <!-- Load Stack of Tasks. -->
   <node machine="geometric_simu_machine" 
         name="node_stack_of_tasks" 
-	pkg="dynamic_graph_bridge"
-	type="geometric_simu"
+        pkg="dynamic_graph_bridge"
+        type="geometric_simu"
         args=" --input-file $(arg libsot)"
         launch-prefix="$(arg sot-launch-prefix)"
 	respawn="true">

sot_tiago_bringup/launch/geometric_simu_context.launch

@@ -2,10 +2,6 @@
      Handle ROS simulation of the SoT.
   -->
 <launch>
-  <!-- Which robot are we controlling ? -->
-  <arg name="robot" default="tiago" />
-  <arg name="libsot" default="libsot-tiago-steel-controller.so" />   
-
   <!-- BTW we are in simulation ? -->
 
    <!-- Load robot model. -->