Add simulation argument in launch file

  - control period is different in simulation (gazebo: 0.01) and on the
    real robot (0.002).

Author: florent-lamiraux

CMakeLists.txt

@@ -73,12 +73,14 @@ INSTALL(FILES package.xml DESTINATION share/${PROJECT_NAME})
 INSTALL(FILES
   launch/controller.launch
   launch/sot_params.launch
+  launch/sot_params.launch
   DESTINATION share/${PROJECT_NAME}/launch)
 
 # Install configuration files
 INSTALL(FILES
   config/controller.yaml
   config/sot_params.yaml
+  config/sot_params_simu.yaml
   DESTINATION share/${PROJECT_NAME}/config)
 
 # Install default URDF file

config/sot_params.yaml

@@ -28,5 +28,5 @@ sot_controller:
       ros_control_mode: POSITION
       sot_control_mode: VELOCITY
 
-  dt: 0.01
+  dt: 0.002
   jitter: 0.004

config/sot_params_simu.yaml

@@ -0,0 +1,32 @@
+sot_controller:
+  libname: libsot-universal-robot-controller.so
+  map_rc_to_sot_device:
+    motor-angles: motor-angles
+    joint-angles: joint-angles
+    velocities: velocities
+    forces: forces
+    torques: torques
+    control: control
+
+  control_mode:
+    shoulder_pan_joint:
+      ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
+    shoulder_lift_joint:
+      ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
+    elbow_joint:
+      ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
+    wrist_1_joint:
+      ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
+    wrist_2_joint:
+      ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
+    wrist_3_joint:
+      ros_control_mode: POSITION
+      sot_control_mode: VELOCITY
+
+  dt: 0.01
+  jitter: 0.004

launch/controller.launch

@@ -1,10 +1,14 @@
 <launch>
+  <arg name="simulation" default="false"/>
   <include file="$(find sot_universal_robot)/launch/sot_params.launch"/>
 
   <!-- Sot Controller configuration -->
-  <rosparam command="load"
+  <rosparam command="load" unless="$(arg simulation)"
 	    file="$(find sot_universal_robot)/config/sot_params.yaml"/>
-  <rosparam command="load" file="$(find sot_universal_robot)/config/controller.yaml" />
+  <rosparam command="load" if="$(arg simulation)"
+	    file="$(find sot_universal_robot)/config/sot_params_simu.yaml"/>
+  <rosparam command="load"
+	    file="$(find sot_universal_robot)/config/controller.yaml" />
 
   <!-- Spawn sot controller -->
   <node name="sot_controller_spawner"