Add ability to ignore the mobile base.

roscontrol_sot_tiago/config/sot_tiago_params.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  ]
@@ -11,10 +10,6 @@ sot_controller:
   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:

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: 0.001
+  jitter: 0.0004

roscontrol_sot_tiago/launch/sot_tiago_controller.launch

 <launch>
+  <arg name="use_mobile_base" default="true"/>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load" file="$(find roscontrol_sot_tiago)/config/sot_tiago_params.yaml"/>
-  <rosparam command="load" ns="/sot_controller/velocity_control_pd_motor_init" file="$(find roscontrol_sot_tiago)/config/pids_velocity.yaml"/>
+  <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_controller.yaml" />
   
   <!-- Spawn walking controller -->