Test of ros-control on Tiago.
To run in gazebo:
roslaunch tiago_roscontrol_test tiago_roscontrol_test_gazebo.launch use_mobile_base:=true
To run on the robot:
roslaunch tiago_roscontrol_test tiago_roscontrol_test.launch use_mobile_base:=true
When use_mobile_base is set to true, the wheels are control in velocity, to their position when lauching the controller.