[hrpsys_ros_bridge_tutorials] Re-enable to use {limb}-controller in real HIRONXJSK

#4 (comment) includes misunderstanding

Author: pazeshun

hrpsys_ros_bridge_tutorials/euslisp/hironxjsk-interface.l

@@ -34,7 +34,12 @@
                    args)
       (dolist (limb '(:rarm :larm :head :torso))
         (let ((ctype (read-from-string (format nil "~A-controller" limb))))
-          (send self :add-controller ctype)))
+          ;; If :gazebo-ros-controller was passed to *ri* init, {limb}-controller's action was already created, so we just register it as {limb}-controller
+          (unless (send self :add-controller ctype)
+            ;; If :default-controller was passed to *ri* init, {limb}-controller's action was not created, so we create it.
+            ;; If we create it when :gazebo-ros-controller was passed, "old client's goal" warning is showed after :angle-vector
+            (send self :add-controller ctype
+                  :joint-enable-check t :create-actions t))))
 
       ;; add hand controller for gazebo with ros_control
       (when on-gazebo-ros-control