[roscontrol_sot_tiago] Fix typos in joint names

roscontrol_sot_tiago/config/sot_tiago_controller.yaml

@@ -8,10 +8,10 @@ sot_controller:
     - arm_left_5_joint
     - arm_left_6_joint
     - arm_left_7_joint
-    - gripper_joint
+    - gripper_finger_joint
     - head_1_joint
     - head_2_joint
-    - torso_joint
+    - torso_lift_joint
 
   left_ft_sensor: left_ankle_ft
   right_ft_sensor: right_ankle_ft

roscontrol_sot_tiago/config/sot_tiago_params.yaml

@@ -8,7 +8,7 @@ sot_controller:
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
   torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
   position_control_init_pos:
-    - name: torso_joint
+    - name: torso_lift_joint
       des_pos: 0.0
     - name: arm_1_joint
       des_pos: 0.25847
@@ -24,7 +24,7 @@ sot_controller:
       des_pos: 0.0
     - name: arm_7_joint
       des_pos: 0.1
-    - name: gripper_joint
+    - name: gripper_finger_joint
       des_pos: 0.034
     - name: head_1_joint
       des_pos: 0.0

roscontrol_sot_tiago/config/sot_tiago_params_gazebo.yaml

@@ -8,7 +8,7 @@ sot_controller:
   joint-angles: joint-angles, velocities: velocities, forces: forces, currents: currents,
   torques: torques, cmd-joints: control, cmd-effort: control, accelerometer_0: accelerometer_0, gyrometer_0: gyrometer_0 }
   position_control_init_pos:
-    - name: torso_joint
+    - name: torso_lift_joint
       des_pos: 0.0
     - name: arm_1_joint
       des_pos: 0.25847

roscontrol_sot_tiago/launch/display_sot.launch

 <launch>
   <arg name="input_topic" default="/sot_hpp/state"/>
-  <arg name="output_prefix" default="/sot"/>
+  <arg name="output_prefix" default="sot"/>
   <arg name="rviz" default="false"/>
   <arg name="publish_root" default="true"/>
 
   <node pkg="roscontrol_sot_tiago" name="$(anon republish)" type="republish" args="$(arg input_topic) $(arg output_prefix)/joint_state $(arg publish_root)"/>
 
   <node pkg="tf" type="static_transform_publisher"
-    name="$(anon base_link_broadcaster)"
+    name="$(anon base_footprint_broadcaster)"
     args="0 0 0 0 0 0 1 odom $(arg output_prefix)/odom 100"
     if="$(arg publish_root)" />
   <node pkg="tf" type="static_transform_publisher"
-    name="$(anon base_link_broadcaster)"
-    args="0 0 0 0 0 0 1 odom $(arg output_prefix)/base_link 100"
+    name="$(anon base_footprint_broadcaster)"
+    args="0 0 0 0 0 0 1 odom $(arg output_prefix)/base_footprint 100"
     unless="$(arg publish_root)" />
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="$(anon rob_st_pub)" >

roscontrol_sot_tiago/scripts/republish

@@ -29,7 +29,7 @@ if publish_root_wrt_odom:
         output_prefix = output_topic.rsplit('/',1)[0] + '/'
     else:
         output_prefix = ""
-    rospy.loginfo("Will publish " + output_prefix + "base_link with respect to " + output_prefix + "odom")
+    rospy.loginfo("Will publish " + output_prefix + "base_footprint with respect to " + output_prefix + "odom")
 
 jointnames =  rospy.get_param("/sot_controller/joint_names")
     
@@ -39,7 +39,7 @@ def jointreceived(jstates):
     time = rospy.Time.now()
     aJS.header.seq = seqnb
     aJS.header.stamp = time
-    aJS.header.frame_id = "base_link"
+    aJS.header.frame_id = "base_footprint"
     aJS.name = jointnames
     aJS.position = jstates.data[6:]
     aJS.velocity = []
@@ -52,7 +52,7 @@ def jointreceived(jstates):
                          tf.transformations.quaternion_from_euler(
                              jstates.data[3], jstates.data[4], jstates.data[5]),
                          time,
-                         output_prefix + "base_link",
+                         output_prefix + "base_footprint",
                          output_prefix + "odom")
 
 def listener():