28 lines
1.0 KiB
XML
28 lines
1.0 KiB
XML
<?xml version="1.0" ?>
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<robot name="o2s_robot" xmlns:xacro="http://www.ros.org/wiki/xacro" >
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<!-- ****************** o2s base transmission******************* -->
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<transmission name="rightwheel_joint_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="rightwheel_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="rightwheel_joint_actr">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="leftwheel_joint_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="leftwheel_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="leftwheel_joint_actr">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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</robot>
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