42 lines
1.6 KiB
Plaintext
42 lines
1.6 KiB
Plaintext
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<?xml version="1.0"?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="leg_transmission" params="name">
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<transmission name="${name}_abad_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${name}_abad_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${name}_abad_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>"${abadGearRatio}"</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${name}_hip_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${name}_hip_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${name}_hip_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>"${abadGearRatio}"</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${name}_knee_tran">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${name}_knee_joint">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${name}_knee_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>"${kneeGearRatio}"</mechanicalReduction>
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</actuator>
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</transmission>
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</xacro:macro>
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</robot>
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