18 lines
710 B
XML
18 lines
710 B
XML
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="xarm_gripper_transmission"
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params="prefix hard_interface:=PositionJointInterface reduction:=1">
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<transmission name="${prefix}drive_joint_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}drive_joint">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}drive_joint_motor">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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<mechanicalReduction>${reduction}</mechanicalReduction>
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</actuator>
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</transmission>
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</xacro:macro>
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</robot> |