Rune Harlyk
37 lines
1.8 KiB
XML
37 lines
1.8 KiB
XML
<?xml version="1.0" ?>
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<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:macro name="quadruped_transmission" params="leg ">
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<transmission name="${leg}_hip_joint_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="motor_${leg}_hip">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${leg}_hip_joint_motor">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<transmission name="${leg}_upper_leg_joint_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="motor_${leg}_lower_leg">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${leg}_upper_leg_joint_motor">
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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="${leg}_lower_leg_joint_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="motor_${leg}_upper_leg">
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<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
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</joint>
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<actuator name="${leg}_lower_joint_motor">
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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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</xacro:macro>
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</robot> |