Added BT client launch files

launch/ivo_arm_bt_client_sim.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="arm_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_arm_module)/config/ivo_arm_module_default.yaml" />
+  <arg name="move_groups_file" default="$(find tiago_arm_module)/config/ivo_move_groups.yaml" />
+  <arg name="joint_states_topic" default="/joint_states"/>
+  <arg name="arm_action" default="/move_group"/>
+  <arg name="planning_scene_topic" default="/planning_scene"/>
+  <arg name="get_planning_scene_service" default="/get_planning_scene"/>
+
+  <arg name="tree_path"          default="$(find tiago_arm_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find ivo_1_gazebo)/launch/ivo_gazebo.launch">
+  </include>
+
+  <include file="$(find tiago_arm_module)/launch/tiago_arm_bt_client.launch">
+    <arg name="node_name"                  value="$(arg node_name)" />
+    <arg name="output"                     value="$(arg output)" />
+    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
+    <arg name="config_file"                value="$(arg config_file)" />
+    <arg name="move_groups_file"           value="$(arg move_groups_file)" />
+    <arg name="joint_states_topic"         value="$(arg joint_states_topic)"/>
+    <arg name="arm_action"                 value="$(arg arm_action)"/>
+    <arg name="planning_scene_topic"       value="$(arg planning_scene_topic)"/>
+    <arg name="get_planning_scene_service" value="$(arg get_planning_scene_service)"/>
+    <arg name="tree_path"       value="$(arg tree_path)"/>
+    <arg name="tree_file"       value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </include>
+
+</launch>
+

launch/tiago_arm_bt_client.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="arm_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_arm_module)/config/tiago_arm_module_default.yaml" />
+  <arg name="move_groups_file" default="$(find tiago_arm_module)/config/tiago_move_groups.yaml" />
+  <arg name="joint_states_topic" default="/joint_states"/>
+  <arg name="arm_action" default="/move_group"/>
+  <arg name="planning_scene_topic" default="/planning_scene"/>
+  <arg name="get_planning_scene_service" default="/get_planning_scene"/>
+
+  <arg name="tree_path"          default="$(find tiago_arm_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <!-- launch the play motion client node -->
+  <node name="$(arg node_name)"
+        pkg="tiago_arm_module"
+        type="tiago_arm_bt_client"
+	output="$(arg output)"
+	launch-prefix="$(arg launch_prefix)">
+    <remap from="~/arm_torso/joint_states"
+             to="$(arg joint_states_topic)"/>
+    <remap from="~/arm_torso/arm"
+             to="$(arg arm_action)"/>
+    <remap from="~/arm_torso/planning_scene"
+             to="$(arg planning_scene_topic)"/>
+    <remap from="~/arm_torso/get_planning_scene"
+             to="$(arg get_planning_scene_service)"/>
+    <rosparam file="$(arg config_file)" command="load" ns="arm_torso" />
+    <rosparam file="$(arg move_groups_file)" command="load" ns="arm_torso" />
+    <arg name="tree_path"       value="$(arg tree_path)"/>
+    <arg name="tree_file"       value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
+
+</launch>
+

launch/tiago_arm_bt_client_sim.launch

+<?xml version="1.0" encoding="UTF-8"?>
+<launch>
+  <arg name="node_name" default="arm_client" />
+  <arg name="output" default="log" />
+  <arg name="launch_prefix" default="" />
+  <arg name="config_file" default="$(find tiago_arm_module)/config/tiago_arm_module_default.yaml" />
+  <arg name="move_groups_file" default="$(find tiago_arm_module)/config/tiago_move_groups.yaml" />
+  <arg name="joint_states_topic" default="/joint_states"/>
+  <arg name="arm_action" default="/move_group"/>
+  <arg name="planning_scene_topic" default="/planning_scene"/>
+  <arg name="get_planning_scene_service" default="/get_planning_scene"/>
+
+  <arg name="tree_path"          default="$(find tiago_arm_module)/src/xml" />
+  <arg name="tree_file"          default="bt_test" />
+  <arg name="bt_client_rate"     default="10" />
+
+  <include file="$(find tiago_gazebo)/launch/tiago_gazebo.launch">
+    <arg name="public_sim" value="true" />
+    <arg name="robot" value="steel" />
+    <arg name="world" value="empty" />
+    <arg name="use_moveit_camera" value="true"/>
+  </include>
+
+  <include file="$(find tiago_arm_module)/launch/tiago_arm_bt_client.launch">
+    <arg name="node_name"                  value="$(arg node_name)" />
+    <arg name="output"                     value="$(arg output)" />
+    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
+    <arg name="config_file"                value="$(arg config_file)" />
+    <arg name="move_groups_file"           value="$(arg move_groups_file)" />
+    <arg name="joint_states_topic"         value="$(arg joint_states_topic)"/>
+    <arg name="arm_action"                 value="$(arg arm_action)"/>
+    <arg name="planning_scene_topic"       value="$(arg planning_scene_topic)"/>
+    <arg name="get_planning_scene_service" value="$(arg get_planning_scene_service)"/>
+    <arg name="tree_path"       value="$(arg tree_path)"/>
+    <arg name="tree_file"       value="$(arg tree_file)"/>
+    <arg name="bt_client_rate"  value="$(arg bt_client_rate)"/>
+  </include>
+
+</launch>
+