Fix geometric simu.

sot_tiago_bringup/launch/geometric_simu.launch

@@ -4,7 +4,7 @@
 <launch>
   <!-- Which robot are we controlling ? -->
   <arg name="robot" default="tiago" />
-  <arg name="libsot" default="libsot-tiago-controller.so" />   
+  <arg name="libsot" default="libsot-tiago-steel-controller.so" />
 
   <arg name="sot-launch-prefix" default="" />
 

sot_tiago_bringup/launch/geometric_simu_context.launch

@@ -4,13 +4,13 @@
 <launch>
   <!-- Which robot are we controlling ? -->
   <arg name="robot" default="tiago" />
-  <arg name="libsot" default="libsot-tiago-controller.so" />   
+  <arg name="libsot" default="libsot-tiago-steel-controller.so" />   
 
   <!-- BTW we are in simulation ? -->
 
    <!-- Load robot model. -->
   <param name="robot_description"
-	 textfile="$(find tiago_data)/urdf/tiago_reduced.urdf" />
+	 textfile="$(find tiago_data)/robots/tiago_steel.urdf" />
 
 
    <!-- Load robot sot params. -->

sot_tiago_bringup/sot/tiago.yaml

 sot:
-  state_vector_map: [  torso_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
+  state_vector_map: [  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]
 sot_controller:
-  joint_names: [  torso_joint,
-    arm_1_joint, arm_2_joint, arm_3_joint, arm_4_joint, arm_5_joint, arm_6_joint, arm_7_joint, gripper_joint,
+  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
   ]
   dt: 0.001