Fixed some minor errors.

config/iri_segway_rmp200_rviz.vcg

 Background\ ColorB=1
 Background\ ColorG=0
 Background\ ColorR=0
-Camera\ Config=0.686 0.697812 9.64428 -4.73705 -3.9373 -4.26223
+Camera\ Config=0.726 0.702812 10.1652 -4.08803 -3.83136 -4.95288
 Camera\ Type=rviz::OrbitViewController
-Fixed\ Frame=/tibi/base_link
+Fixed\ Frame=/base_link
 Grid.Alpha=0.5
 Grid.Cell\ Size=1
 Grid.ColorB=0
@@ -19,59 +19,19 @@ Grid.OffsetZ=0
 Grid.Plane=0
 Grid.Plane\ Cell\ Count=43
 Grid.Reference\ Frame=<Fixed Frame>
-Property\ Grid\ Splitter=487,78
-Property\ Grid\ State=expanded=.Global Options;splitterratio=0.5
-QMainWindow=000000ff00000000fd00000003000000000000011d00000287fc0200000001fb000000100044006900730070006c006100790073010000001d00000287000000ee00ffffff000000010000013100000287fc0200000003fb0000001e0054006f006f006c002000500072006f0070006500720074006900650073010000001d000000a60000006700fffffffb0000000a0056006900650077007301000000c90000012f000000bb00fffffffb0000001200530065006c0065006300740069006f006e01000001fe000000a60000006700ffffff00000003000005150000003efc0100000001fb0000000800540069006d0065010000000000000515000002bf00ffffff000002bb0000028700000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-Robot\:\ Dabo\ Link\ base_linkAlpha=1
-Robot\:\ Dabo\ Link\ base_linkEnabled=1
-Robot\:\ Dabo\ Link\ base_linkShow\ Axes=0
-Robot\:\ Dabo\ Link\ base_linkShow\ Trail=0
-Robot\:\ Dabo\ Link\ bumblebeeAlpha=1
-Robot\:\ Dabo\ Link\ bumblebeeEnabled=1
-Robot\:\ Dabo\ Link\ bumblebeeShow\ Axes=0
-Robot\:\ Dabo\ Link\ bumblebeeShow\ Trail=0
-Robot\:\ Dabo\ Link\ bumblebee_leftAlpha=1
-Robot\:\ Dabo\ Link\ bumblebee_leftEnabled=1
-Robot\:\ Dabo\ Link\ bumblebee_leftShow\ Axes=0
-Robot\:\ Dabo\ Link\ bumblebee_leftShow\ Trail=0
-Robot\:\ Dabo\ Link\ bumblebee_rightAlpha=1
-Robot\:\ Dabo\ Link\ bumblebee_rightEnabled=1
-Robot\:\ Dabo\ Link\ bumblebee_rightShow\ Axes=0
-Robot\:\ Dabo\ Link\ bumblebee_rightShow\ Trail=0
-Robot\:\ Dabo\ Link\ front_laserAlpha=1
-Robot\:\ Dabo\ Link\ front_laserEnabled=1
-Robot\:\ Dabo\ Link\ front_laserShow\ Axes=0
-Robot\:\ Dabo\ Link\ front_laserShow\ Trail=0
-Robot\:\ Dabo\ Link\ headAlpha=1
-Robot\:\ Dabo\ Link\ headEnabled=1
-Robot\:\ Dabo\ Link\ headShow\ Axes=0
-Robot\:\ Dabo\ Link\ headShow\ Trail=0
-Robot\:\ Dabo\ Link\ neck1Alpha=1
-Robot\:\ Dabo\ Link\ neck1Enabled=1
-Robot\:\ Dabo\ Link\ neck1Show\ Axes=0
-Robot\:\ Dabo\ Link\ neck1Show\ Trail=0
-Robot\:\ Dabo\ Link\ neck2Alpha=1
-Robot\:\ Dabo\ Link\ neck2Enabled=1
-Robot\:\ Dabo\ Link\ neck2Show\ Axes=0
-Robot\:\ Dabo\ Link\ neck2Show\ Trail=0
-Robot\:\ Dabo\ Link\ neck3Alpha=1
-Robot\:\ Dabo\ Link\ neck3Enabled=1
-Robot\:\ Dabo\ Link\ neck3Show\ Axes=0
-Robot\:\ Dabo\ Link\ neck3Show\ Trail=0
-Robot\:\ Dabo\ Link\ rear_laserAlpha=1
-Robot\:\ Dabo\ Link\ rear_laserEnabled=1
-Robot\:\ Dabo\ Link\ rear_laserShow\ Axes=0
-Robot\:\ Dabo\ Link\ rear_laserShow\ Trail=0
-Robot\:\ Dabo\ Link\ vertical_laserAlpha=1
-Robot\:\ Dabo\ Link\ vertical_laserEnabled=1
-Robot\:\ Dabo\ Link\ vertical_laserShow\ Axes=0
-Robot\:\ Dabo\ Link\ vertical_laserShow\ Trail=0
+Property\ Grid\ Splitter=500,78
+Property\ Grid\ State=expanded=.Global Options,.Global Status,Tibi.Enabled,Tibi.Status;splitterratio=0.5
+QMainWindow=000000ff00000000fd00000003000000000000011d0000028bfc0200000001fb000000100044006900730070006c00610079007301000000190000028b000000c300ffffff00000001000001310000028bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000019000000a70000005100fffffffb0000000a0056006900650077007301000000c600000131000000a100fffffffb0000001200530065006c0065006300740069006f006e01000001fd000000a70000005100ffffff00000003000005150000003efc0100000001fb0000000800540069006d00650100000000000005150000021400ffffff000002bb0000028b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+Robot\:\ Tibi\ Link\ base_linkAlpha=1
+Robot\:\ Tibi\ Link\ base_linkEnabled=1
+Robot\:\ Tibi\ Link\ base_linkShow\ Axes=0
+Robot\:\ Tibi\ Link\ base_linkShow\ Trail=0
 Target\ Frame=<Fixed Frame>
 Tibi.Alpha=1
 Tibi.Collision\ Enabled=0
 Tibi.Enabled=1
-Tibi.Robot\ Description=/tibi/robot_description
-Tibi.TF\ Prefix=/tibi
+Tibi.Robot\ Description=robot_description
+Tibi.TF\ Prefix=
 Tibi.Update\ Interval=0
 Tibi.Visual\ Enabled=1
 Tool\ 2D\ Nav\ GoalTopic=/goal
@@ -83,7 +43,7 @@ Name=Grid
 ClassName=rviz::RobotModelDisplay
 Name=Tibi
 [Window]
-Height=744
-Width=1301
-X=-1
+Height=780
+Width=1317
+X=-8
 Y=-28

launch/iri_segway_rmp200_test.launch

@@ -8,13 +8,12 @@
   <!-- service servers: -->
   <!-- action clients: -->
   <!-- action servers: -->
-  <include file="$(find iri_segway_rmp200)/launch/segway_rmp200.launch">
+  <include file="$(find iri_segway_rmp200)/launch/iri_segway_rmp200.launch">
   </include>
 
   <node name="rviz" 
         pkg="rviz" 
         type="rviz"
-        machine="monitor" 
         args="-d $(find iri_segway_rmp200)/config/iri_segway_rmp200_rviz.vcg" />
 
 </launch>