Add option end_effector to geometric_simu

sot_tiago_bringup/launch/geometric_simu.launch

@@ -6,10 +6,12 @@
   <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="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
 
   <arg name="sot-launch-prefix" default="" />
 
-  <include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch" >
+  <include file="$(find sot_tiago_bringup)/launch/geometric_simu_context.launch">
+    <arg name="end_effector" value="$(arg end_effector)"/>
   </include>
 
   <param name="/sot_controller/use_mobile_base" value="$(arg use_mobile_base)"/>

sot_tiago_bringup/launch/geometric_simu_context.launch

@@ -2,11 +2,16 @@
      Handle ROS simulation of the SoT.
   -->
 <launch>
-  <!-- BTW we are in simulation ? -->
+  <arg name="end_effector" doc="one of false, pal-gripper, pal-hey5, schunk-wsg"/>
 
    <!-- Load robot model. -->
+  <!--
+  <param name="robot_description"
+    textfile="$(find tiago_data)/robots/tiago_steel.urdf" />
+  -->
   <param name="robot_description"
-	 textfile="$(find tiago_data)/robots/tiago_steel.urdf" />
+    command="$(find xacro)/xacro.py '$(find tiago_description)/robots/tiago.urdf.xacro' end_effector:=$(arg end_effector)"/>
+
 
 
    <!-- Load robot sot params. -->