Make display_sot.launch more flexible.

roscontrol_sot_talos/launch/display_sot.launch

 <launch>
-  <node pkg="roscontrol_sot_talos" name="republish" type="republish"/>
+  <arg name="input_topic" default="/sot_hpp/state"/>
+  <arg name="output_prefix" default="/sot"/>
+
+  <node pkg="roscontrol_sot_talos" name="republish" type="republish" args="$(arg input_topic) $(arg output_prefix)/joint_state"/>
 
   <node pkg="tf" type="static_transform_publisher"
     name="base_link_broadcaster"
-    args="0 0 0 0 0 0 1 base_link sot/base_link 100" />
+    args="0 0 0 0 0 0 1 base_link $(arg output_prefix)/base_link 100" />
 
   <node pkg="robot_state_publisher" type="robot_state_publisher" name="rob_st_pub" >
-    <remap from="/joint_states" to="/sot/joint_state" />
-    <param name="tf_prefix" value="/sot" />
+    <remap from="/joint_states" to="$(arg output_prefix)/joint_state" />
+    <param name="tf_prefix" value="$(arg output_prefix)" />
   </node>
 
   <node pkg="rviz" type="rviz" name="rviz" />

roscontrol_sot_talos/scripts/republish

@@ -3,9 +3,19 @@
 import rospy
 from dynamic_graph_bridge_msgs.msg import Vector
 from sensor_msgs.msg import JointState
+import sys
+
+if len(sys.argv)>1:
+    input_topic = sys.argv[1]
+    if len(sys.argv)>2:
+        output_topic = sys.argv[2]
+    else:
+        output_topic = "/sot/joint_state"
+else:
+    input_topic = "/sot_hpp/state"
 
 rospy.init_node('sot_reemitter', anonymous=True)
-pub = rospy.Publisher('/sot/joint_state', JointState, queue_size=10)
+pub = rospy.Publisher(output_topic, JointState, queue_size=10)
     
 seqnb = 0
 aJS = JointState()
@@ -25,7 +35,7 @@ def jointreceived(jstates):
     pub.publish(aJS)
 
 def listener():
-    rospy.Subscriber("/sot_hpp/state", Vector, jointreceived)
+    rospy.Subscriber(input_topic, Vector, jointreceived)
     rospy.spin()
     
 if __name__ == '__main__':