This fix takes care of removing issues with odometry as well as fixing the mimic_joint problem with gazebo versions earlier than 9 that causes pepper to topple over when starting with kinetic and gazebo7. PID values have been harshly tuned for a version that stays upright and works correctly with moveit config. Feel free to update the PID values in pepper_gazebo_controller.yaml should you find better values.
This fix takes care of removing issues with odometry as well as fixing the mimic_joint problem with gazebo versions earlier than 9 that causes pepper to topple over when starting with kinetic and gazebo7. PID values have been harshly tuned for a version that stays upright and works correctly with moveit config. Feel free to update the PID values in pepper_gazebo_controller.yaml should you find better values.