Makes republish reads /sot_controller/joint_names for the mapping

Install republish through catkin

roscontrol_sot_talos/CMakeLists.txt

@@ -65,7 +65,8 @@ foreach(dir config launch)
   )
 endforeach()
 
-
+catkin_install_python(PROGRAMS scripts/republish
+                      DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION})
 #############
 ## Testing ##
 #############

roscontrol_sot_talos/scripts/republish

@@ -10,13 +10,7 @@ pub = rospy.Publisher('/sot/joint_state', JointState, queue_size=10)
 seqnb = 0
 aJS = JointState()
 
-jointnames =  [
-'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',
-]
+jointnames =  rospy.get_param("/sot_controller/joint_names")
     
 def jointreceived(jstates):
     global seqnb