87 lines
3.4 KiB
XML
Executable File
87 lines
3.4 KiB
XML
Executable File
<?xml version="1.0"?>
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<robot xmlns:xacro="http://ros.org/wiki/xacro">
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<xacro:macro name="xarm7_transmission"
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params="prefix hard_interface:=EffortJointInterface reduction:=100">
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<transmission name="${prefix}tran1">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}joint1">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}motor1">
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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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<transmission name="${prefix}tran2">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}joint2">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}motor2">
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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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<transmission name="${prefix}tran3">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}joint3">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}motor3">
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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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<transmission name="${prefix}tran4">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}joint4">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}motor3">
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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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<transmission name="${prefix}tran5">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}joint5">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}motor5">
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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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<transmission name="${prefix}tran6">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}joint6">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}motor6">
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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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<transmission name="${prefix}tran7">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="${prefix}joint7">
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<hardwareInterface>hardware_interface/${hard_interface}</hardwareInterface>
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</joint>
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<actuator name="${prefix}motor7">
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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>
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