start-jsk/rtmros_gazebo — pull request #38 by mmurooka (2014-04-11 18:24:40+00:00)
Title: use fullbody_controller instead of controllers for each limbs

(A) hrpsys controller setting and (B) moveit controller setting should match for moving robot by integrating hrpsys and moveit.

We have following two choices about this setting and I think (2) is more simple and better.
Are there any good reason for using separate controller for each limbs by moveit?
I tested that HRP2JSKNT on hrpsys-simulator moves by MoveIt correctly after this changing.

(1) Separate for each limb
- (A) https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_gazebo_tutorials/config/HRP2JSKNT_controller_config_for_moveit.yaml
- (B) https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_moveit_configs/hrp2jsknt_moveit_config/config/hrp2jsknt_controllers.yaml （Before this PR changing version）

(2) Only one controller for fullbody
- (A) default （no need to load setting file）
- (B) https://github.com/start-jsk/rtmros_gazebo/blob/master/hrpsys_moveit_configs/hrp2jsknt_moveit_config/config/hrp2jsknt_controllers.yaml （After this PR changing version）