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Sorry about that. At some point I added the robotis joint controller directly to the launch file. To fix, remove the robotis node line from your tracker.launch file so that it looks like this:

<launch>
    <node name="tracker_command" pkg="pi_tracker" type="tracker_command.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>

    <node name="tracker_base_controller" pkg="pi_tracker" type="tracker_base_controller.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>

    <node name="tracker_joint_controller" pkg="pi_tracker" type="tracker_joint_controller.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>
</launch>

I've also updated this in the SVN repository.

--patrick

Sorry about that. At some point I added the robotis joint controller directly to the launch file. To fix, remove the robotis node include line from your tracker.launch file so that it looks like this:

<launch>
    <node name="tracker_command" pkg="pi_tracker" type="tracker_command.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>

    <node name="tracker_base_controller" pkg="pi_tracker" type="tracker_base_controller.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>

    <node name="tracker_joint_controller" pkg="pi_tracker" type="tracker_joint_controller.py" output="screen">
        <rosparam command="load" file="$(find pi_tracker)/params/tracker_params.yaml" />
    </node>
</launch>

I've also updated this in the SVN repository.

--patrick