Used the ros::this_node::getName() for the module namespace.

Added a launch file for the real robot.
Modified the simulation launch file to use the new launch file.

launch/play_motion_client.launch

+<launch>
+
+  <!-- launch the play motion client node -->
+  <node name="play_motion_client"
+        pkg="play_motion_client"
+        type="play_motion_client"
+        output="screen"
+        ns="/tiago">
+    <remap from="~/play_motion_module/play_motion"
+             to="/play_motion"/>
+
+    <rosparam file="$(find tiago_modules)/config/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>
+

launch/play_motion_client_sim.launch

@@ -5,25 +5,7 @@
     <arg name="robot" value="steel" />
   </include>
 
-  <!-- launch the play motion client node -->
-  <node name="play_motion_client"
-        pkg="play_motion_client"
-        type="play_motion_client"
-        output="screen"
-        ns="/tiago">
-    <remap from="~/play_motion_module/play_motion"
-             to="/play_motion"/>
-    <param name="~/play_motion_module/action_max_retries" value="5"/>
-    <param name="~/play_motion_module/enable_timeout" value="false"/>
-    <param name="~/play_motion_module/feedback_watchdog_time_s" value="20"/>
-    <param name="~/play_motion_module/rate_hz" value="10"/>
-    <param name="~/play_motion_module/timeout_s" value="10"/>
-    <param name="~/play_motion_module/enabled" value="true"/>
-  </node>
-
-  <!-- launch dynamic reconfigure -->
-  <node name="rqt_reconfigure" pkg="rqt_reconfigure" type="rqt_reconfigure" respawn="false"
-    output="screen"/>
+  <include file="$(find play_motion_client)/launch/play_motion_client.launch">
 
 </launch>
 

src/play_motion_client_alg_node.cpp

@@ -3,7 +3,7 @@
 
 PlayMotionClientAlgNode::PlayMotionClientAlgNode(void) :
   algorithm_base::IriBaseAlgorithm<PlayMotionClientAlgorithm>(),
-  play_motion("play_motion_module")
+  play_motion("play_motion_module",ros::this_node::getName())
 {
   //init class attributes if necessary
   //this->loop_rate_ = 2;//in [Hz]