Updated the IVO launch files to use the IVO name as mush as possible.

launch/ivo_play_motion_bt_client.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <arg name="node_name" 	 default="tiago_play_motion_client" />
-  <arg name="output" 	 	 default="screen" />
-  <arg name="launch_prefix" 	 default="" />
+  <arg name="node_name"    default="ivo_play_motion_client" />
+  <arg name="output"     default="screen" />
+  <arg name="launch_prefix"    default="" />
   <arg name="tree_path"          default="$(find tiago_play_motion_module)/src/xml" />
   <arg name="tree_file"          default="bt_test" />
   <arg name="bt_client_rate"     default="10" />
 
-  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_bt_client.launch">
-    <arg name="node_name"                  value="$(arg node_name)" />
-    <arg name="output"                     value="$(arg output)" />
-    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
-    <arg name="tree_path"       	   value="$(arg tree_path)"/>
-    <arg name="tree_file"       	   value="$(arg tree_file)"/>
-    <arg name="bt_client_rate"  	   value="$(arg bt_client_rate)"/>
-  </include>
+  <!-- launch the play motion client node -->
+  <node name="$(arg node_name)"
+        pkg="tiago_play_motion_module"
+        type="tiago_play_motion_bt_client"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)"
+        ns="/ivo">
+    <remap from="~/play_motion_module/play_motion"
+             to="/play_motion"/>
 
+    <rosparam file="$(find tiago_play_motion_module)/config/ivo_play_motion_module_default.yaml" command="load" ns="play_motion_module" />
+    <param name="path"                value="$(arg tree_path)"/>
+    <param name="tree_xml_file"       value="$(arg tree_file)"/>
+    <param name="bt_client_rate"      value="$(arg bt_client_rate)"/>
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
 </launch>
 

launch/ivo_play_motion_client.launch

 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <arg name="node_name" 	 default="tiago_play_motion_client" />
-  <arg name="output" 	 	 default="screen" />
-  <arg name="launch_prefix" 	 default="" />
-
-  <include file="$(find tiago_play_motion_module)/launch/tiago_play_motion_client.launch">
-    <arg name="node_name"                  value="$(arg node_name)" />
-    <arg name="output"                     value="$(arg output)" />
-    <arg name="launch_prefix"              value="$(arg launch_prefix)" />
-  </include>
+
+  <arg name="node_name"    default="ivo_play_motion_client" />
+  <arg name="output"     default="screen" />
+  <arg name="launch_prefix"    default="" />
+
+  <!-- launch the play motion client node -->
+  <node name="$(arg node_name)"
+        pkg="tiago_play_motion_module"
+        type="tiago_play_motion_client"
+        output="$(arg output)"
+        launch-prefix="$(arg launch_prefix)"
+        ns="/ivo">
+    <remap from="~/play_motion_module/play_motion"
+             to="/play_motion"/>
+
+    <rosparam file="$(find tiago_play_motion_module)/config/ivo_play_motion_module_default.yaml" command="load" ns="play_motion_module" />
+  </node>
+
+  <!-- launch dynamic reconfigure -->
+  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
+    output="screen"/>
 
 </launch>