[WIP][Depends on #242]fix IOBplugin to enable use_velocity_feedback in kinetic

[Naoki-Hiraoka]

In kinetic,

rtmros_gazebo/hrpsys_gazebo_general/config/SampleRobot.yaml

Line 3 in 7389a49

use_velocity_feedback: true

if use_velocity_feedback is true, the robot blows off with roslaunch hrpsys_gazebo_general gazebo_samplerobot_no_controllers.launch.

From http://answers.gazebosim.org/question/8371/kobukiturtlebot-doesnt-move-when-given-velocity-commands-in-gazebo-5/?answer=8377#post-id-8377 , I tried using joint->SetParam("vel") and joint->SetParam("max_force"). (e4b8b59)
However, the robot was not actuated.

Then, from http://gazebosim.org/tutorials?tut=set_velocity&cat= , I tried using joint->SetParam("vel") and joint->SetParam("fmax"). (4747e03)
Though the robot was actuated and not blew off, the robot was not controlled as intended.

For now, we have to set use_velocity_feedback to false in kinetic.

[k-okada]

@Naoki-Hiraoka can we merge this? or is this only for kinetic and not need/work for melodic?

[Naoki-Hiraoka]

This PR does NOT work on kinetic.
This PR is just a bug report , so we don't have to merge this.
I'm sorry for the confusion.

[pazeshun]

@k-okada
In my understanding, this PR is a trial to use the same configuration as indigo (use_velocity_feedback: true) on kinetic and melodic.
Finally, @Naoki-Hiraoka gave up using the same configuration.
On #250 , he changed the configuration (use_velocity_feedback: false and adjusting gains).
@Naoki-Hiraoka Is my understanding correct?

[pazeshun]

I created #253 to reconstruct old configuration.

[Naoki-Hiraoka]

@k-okada
In my understanding, this PR is a trial to use the same configuration as indigo (use_velocity_feedback: true) on kinetic and melodic.
Finally, @Naoki-Hiraoka gave up using the same configuration.
On #250 , he changed the configuration (use_velocity_feedback: false and adjusting gains).
@Naoki-Hiraoka Is my understanding correct?

Yes.
We use use_velocity_feedback: false on kinetic and melodic now, and samplerobot can walk.