Changed head differential, default controllers stopped

talos_bringup/launch/talos_preload_libraries.launch

+<launch>
+
+  <include file="$(find talos_controller_configuration)/launch/talos_default_controllers.launch" />
+
+  <include file="$(find talos_controller_configuration)/launch/full_body_position_controllers.launch" />
+  
+  <include file="$(find talos_walking)/launch/walking_controller.launch" />
+
+</launch>
+

talos_controller_configuration/launch/full_body_position_controllers.launch

@@ -12,7 +12,7 @@
               left_gripper_controller
               right_gripper_controller
               left_leg_controller
-              right_leg_controller" />
+              right_leg_controller --stopped" />
 
   <!-- Point head action -->
   <group ns="head_controller">

talos_description/robots/talos_full.urdf.xacro

@@ -30,8 +30,8 @@
   <xacro:ft_sensor name="wrist" parent="arm_right_7_link" side="right" reflect="1"  />
   <xacro:ft_sensor name="wrist" parent="arm_left_7_link"  side="left"  reflect="-1" />
 
-  <xacro:talos_gripper name="left_gripper" parent="wrist_left_ft_tool_link"/>
-  <xacro:talos_gripper name="right_gripper" parent="wrist_right_ft_tool_link"/>
+  <xacro:talos_gripper name="gripper_left" parent="wrist_left_ft_tool_link"/>
+  <xacro:talos_gripper name="gripper_right" parent="wrist_right_ft_tool_link"/>
 
   <xacro:talos_leg prefix="left"  reflect="1" />
   <xacro:talos_leg prefix="right" reflect="-1" />

talos_description/urdf/head/head.transmission.xacro

@@ -13,7 +13,7 @@
   <xacro:macro name="talos_head_differential_transmission"
                params="name number1 number2 act_reduction1 act_reduction2 jnt_reduction1 jnt_reduction2" >
     <transmission name="talos_trans">
-      <type>transmission_interface/DifferentialTransmission</type>
+      <type>transmission_interface/HalfDifferentialTransmission</type>
       <actuator name="${name}_${number1}_motor">
         <role>actuator1</role>
         <mechanicalReduction>${act_reduction1}</mechanicalReduction>