-
Notifications
You must be signed in to change notification settings - Fork 1
/
Copy pathscuttle.trans
executable file
·70 lines (63 loc) · 2.75 KB
/
scuttle.trans
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
<?xml version="1.0" ?>
<robot name="scuttle" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<transmission name="l_wheel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_wheel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_wheel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_wheel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_caster_swivel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_caster_swivel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_caster_swivel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_caster_swivel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_caster_swivel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_caster_swivel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="r_caster_wheel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="r_caster_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="r_caster_wheel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="l_caster_wheel_joint_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="l_caster_wheel_joint">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
</joint>
<actuator name="l_caster_wheel_joint_actr">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>