Solved a bug in the add_servo() function when checking the already assigned servos.

Removed the servo assignment from the action and walk clients because it is already done by the corresponding modules.

action_client/src/action_client_alg_node.cpp

@@ -19,8 +19,6 @@ ActionClientAlgNode::ActionClientAlgNode(void) :
   // [init action servers]
   
   // [init action clients]
-
-  this->action.add_whole_body();
 }
 
 ActionClientAlgNode::~ActionClientAlgNode(void)

humanoid_modules/include/humanoid_modules/humanoid_module.h

@@ -104,7 +104,7 @@ void CHumanoidModule<Module>::add_servo(const std::string &name)
     {
       for(j=0;j<this->assigned_servos.size();j++)
       {
-        if(this->assigned_servos[i]==name)
+        if(this->assigned_servos[j]==name)
           return;// servo already assigned to this module
       }
       this->assigned_servos.push_back(name);

walk_client/src/walk_client_alg_node.cpp

@@ -20,7 +20,6 @@ WalkClientAlgNode::WalkClientAlgNode(void) :
   // [init action servers]
   
   // [init action clients]
-  this->walk.add_whole_body();
 }
 
 WalkClientAlgNode::~WalkClientAlgNode(void)