64 lines
2.9 KiB
XML
64 lines
2.9 KiB
XML
<?xml version="1.0"?>
|
|
|
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
|
|
|
<xacro:macro name="arm_transmission" params="name">
|
|
|
|
<transmission name="${name}_shoulder_pitch_joint_tran">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="${name}_shoulder_pitch_joint">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="${name}_shoulder_pitch_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
|
|
<transmission name="${name}_shoulder_roll_joint_tran">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="${name}_shoulder_roll_joint">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="${name}_shoulder_roll_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
|
|
<transmission name="${name}_shoulder_yaw_joint_tran">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="${name}_shoulder_yaw_joint">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="${name}_shoulder_yaw_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
|
|
<transmission name="${name}_elbow_pitch_joint_tran">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="${name}_elbow_pitch_joint">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="${name}_elbow_pitch_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
|
|
<transmission name="${name}_elbow_roll_joint_tran">
|
|
<type>transmission_interface/SimpleTransmission</type>
|
|
<joint name="${name}_elbow_roll_joint">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
</joint>
|
|
<actuator name="${name}_elbow_roll_motor">
|
|
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
|
|
<mechanicalReduction>1</mechanicalReduction>
|
|
</actuator>
|
|
</transmission>
|
|
|
|
</xacro:macro>
|
|
</robot>
|