Do not use the model name as the name of the robot uses 'robot'

'robot' is generic and should not be a problem as long as we do
not handle multiple robots.

src/ros_parameter.cpp

@@ -25,15 +25,13 @@ bool parameter_server_read_robot_description()
   std::string parameter_name("/robot_description");
   nh.getParam(parameter_name,robot_description);
 
-  pinocchio::Model model;
-  pinocchio::urdf::buildModelFromXML(robot_description, model);
+  std::string model_name("robot");
 
-  ROS_INFO("Robot name : %s.",model.name.c_str());
   // Search for the robot util related to robot_name.
-  sot::RobotUtilShrPtr aRobotUtil = sot::getRobotUtil(model.name);
+  sot::RobotUtilShrPtr aRobotUtil = sot::getRobotUtil(model_name);
   // If does not exist then it is created.
   if (aRobotUtil != sot::RefVoidRobotUtil())
-    aRobotUtil = sot::createRobotUtil(model.name);
+    aRobotUtil = sot::createRobotUtil(model_name);
 
   // If the creation is fine
   if (aRobotUtil != sot::RefVoidRobotUtil())