Fix state_vector_map

sot_pyrene_bringup/CMakeLists.txt

@@ -23,6 +23,11 @@ INSTALL(
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/launch
 )
 
+INSTALL(
+  FILES
+  sot/pyrene.yaml
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/sot
+)
 
 INSTALL(
   FILES

sot_pyrene_bringup/launch/geometric_simu_context.launch

@@ -11,6 +11,11 @@
    <!-- Load robot model. -->
   <param name="robot_description"
 	 textfile="$(find talos_data)/urdf/talos_reduced.urdf" />
+
+
+   <!-- Load robot sot params. -->
+  <rosparam command="load"
+	 file="$(find sot_pyrene_bringup)/sot/pyrene.yaml" />
   
   <machine name="geometric_simu_machine"
            address="localhost">

sot_pyrene_bringup/sot/pyrene.yaml

+sot:
+  state_vector_map: [leg_left_1_joint, leg_left_2_joint, leg_left_3_joint, leg_left_4_joint, leg_left_5_joint, leg_left_6_joint, 
+    leg_right_1_joint, leg_right_2_joint, leg_right_3_joint, leg_right_4_joint, leg_right_5_joint, leg_right_6_joint, 
+    torso_1_joint, torso_2_joint,
+    arm_left_1_joint, arm_left_2_joint, arm_left_3_joint, arm_left_4_joint, arm_left_5_joint, arm_left_6_joint, arm_left_7_joint, gripper_left_joint,
+    arm_right_1_joint, arm_right_2_joint, arm_right_3_joint, arm_right_4_joint, arm_right_5_joint, arm_right_6_joint, arm_right_7_joint, gripper_right_joint,
+    head_1_joint,head_2_joint]