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Commit e19fe8f0 authored by Erdal Pekel's avatar Erdal Pekel
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Migrate to Position based control in Gazebo.

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franka_description/robots/panda.transmission.xacro
+ 18
− 18
View file @ e19fe8f0
......@@ -13,10 +13,10 @@
<transmission name="${robot_name}_tran_1">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -24,10 +24,10 @@
<transmission name="${robot_name}_tran_2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -35,10 +35,10 @@
<transmission name="${robot_name}_tran_3">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_3">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -46,10 +46,10 @@
<transmission name="${robot_name}_tran_4">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_4">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -57,10 +57,10 @@
<transmission name="${robot_name}_tran_5">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_5">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -68,10 +68,10 @@
<transmission name="${robot_name}_tran_6">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_6">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -79,10 +79,10 @@
<transmission name="${robot_name}_tran_7">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_joint7">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_motor_7">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -91,10 +91,10 @@
<transmission name="${robot_name}_leftfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint1">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......@@ -102,10 +102,10 @@
<transmission name="${robot_name}_rightfinger">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
<actuator name="${robot_name}_finger_joint2">
<hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
......
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