Added simulator launch file of the search node.

sm_qr_search/launch/search_sim.launch

+<launch>
+
+  <arg name="robot" default="darwin" />
+  <arg name="environment" default="vision_env" />
+  
+
+  <include file="$(find darwin_description)/launch/darwin_sim.launch">
+    <arg name="robot" value="$(arg robot)" />
+  </include>
+
+ <include file="$(find bioloid_description)/launch/vision_env.launch">
+    <arg name="environment" value="$(arg environment)" />
+  </include>
+  
+  <!-- launch the action client node -->
+  <node name="sm_qr_search"
+        pkg="sm_qr_search"
+        type="sm_qr_search"
+        output="screen"
+        ns="/darwin">
+    <remap from="/darwin/sm_qr_search/cmd_vel"
+             to="/darwin/robot/cmd_vel"/>
+    <remap from="/darwin/sm_qr_search/set_walk_params"
+             to="/darwin/robot/set_walk_params"/>
+    <remap from="/darwin/sm_qr_search/set_servo_modules"
+             to="/darwin/robot/set_servo_modules"/>
+    <remap from="/darwin/head_follow_target"
+             to="/darwin/robot/head_follow_target"/>
+    <remap from="/darwin/sm_qr_search/head_target"
+             to="/darwin/robot/head_target"/>
+    <remap from="/darwin/sm_qr_search/joint_states"
+             to="/darwin/joint_states"/>
+    <remap from="/darwin/sm_qr_search/qr_pose"
+             to="/qr_detector/qr_pose"/>
+    <remap from="/darwin/joint_trajectory"
+             to="/darwin/robot/joint_trajectory"/>
+  </node>
+
+  <!--  <include file="$(find darwin_apps)/launch/xs_camera_qr.launch"/>-->
+  <include file="$(find qr_detector)/launch/tracker_darwin.launch"/>
+
+  <node pkg="image_view"
+        name="image_view"
+        type="image_view"
+        args="image:=/darwin/usb_cam/image_raw">
+  </node>
+  
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+    
+     <!-- load the controllers -->
+  <node name="darwin_odometry" 
+        pkg="darwin_odometry" 
+        type="darwin_odometry" 
+        output="screen"
+        ns="/darwin">  
+     <param name="left_leg_chain_file" value="$(find darwin_odometry)/config/left_leg.xml"/>
+     <param name="right_leg_chain_file" value="$(find darwin_odometry)/config/right_leg.xml"/>
+     <param name="tf_prefix" value="/darwin"/>
+     <param name="publish_tf" value="True"/>
+     <remap from="/darwin/darwin_odometry/joint_states"
+            to="/darwin/joint_states"/>
+     <remap from="/darwin/darwin_odometry/odom"
+            to="/darwin/sm_qr_search/odom"/>
+  </node>
+
+</launch>
+