[sot_pyrene_bringup] Add dt information and prefix for rostopic publication.

sot_pyrene_bringup/launch/geometric_simu.launch

@@ -6,6 +6,8 @@
   <arg name="robot" default="pyrene" />
   <arg name="libsot" default="libsot-pyrene-controller.so" />   
 
+  <arg name="sot-launch-prefix" default="" />
+  
   <include file="$(find sot_pyrene_bringup)/launch/geometric_simu_context.launch" >
     <arg name="robot" value="$(arg robot)" />       
     <arg name="libsot" value="$(arg libsot)" />
@@ -16,7 +18,8 @@
         name="node_stack_of_tasks" 
 	pkg="dynamic_graph_bridge"
 	type="geometric_simu"
-        args=" --input-file $(arg libsot)" 
+        args=" --input-file $(arg libsot)"
+	launch-prefix="$(arg sot-launch-prefix)"
 	respawn="true">
     <param name="/sot/dg/geometric_simu" value="" />
   </node>

sot_pyrene_bringup/sot/pyrene.yaml

@@ -17,3 +17,5 @@ sot:
     gripper_right_motor_single_joint: -gripper_right_joint,
     gripper_right_inner_single_joint: -gripper_right_joint,
     gripper_right_fingertip_3_joint: -gripper_right_joint}
+  sot_controller:
+    dt: 0.001
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