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swerve.trans
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<?xml version="1.0" ?>
<robot name="swerve" xmlns:xacro="http://www.ros.org/wiki/xacro" >
<transmission name="Rev1_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev1">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev1_actr">
<!-- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Rev2_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev2">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="Rev2_actr">
<!-- <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Rev3_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev3">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev3_actr">
<!-- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Rev4_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev4">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="Rev4_actr">
<!-- <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Rev5_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev5">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev5_actr">
<!-- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Rev6_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev6">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="Rev6_actr">
<!-- <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Rev7_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev7">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="Rev7_actr">
<!-- <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="Rev8_tran">
<type>transmission_interface/SimpleTransmission</type>
<joint name="Rev8">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="Rev8_actr">
<!-- <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> -->
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</robot>