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.