Home | Tutorials | Wiki | Issues
Ask Your Question

Revision history [back]

click to hide/show revision 1
initial version

Joint tag does not belong inside the transmission tag.

You define your joints in model tags. Then you pass the transmission tags only the name of the joint.

<joint name="wheel_right_joint" type="revolute">
      <insert_block name="origin" />
      <limit effort="1000.0" lower="-1e+16" upper="1e+16" velocity="3.5"/>
      <axis xyz="-1 0 0" />
      <joint_properties damping="0" friction="0.0" />
      <parent link="base_link" />
      <child link="${name}_link" />
</joint>

<transmission name="tran_${number}">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wheel_right_joint">
        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_wheel_actuator">
        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
        <mechanicalReduction>7</mechanicalReduction>
    </actuator>
</transmission>