To actuate the robot using ROS controllers, we should define the <transmission> element to link actuators to joints. Here is the macro defined for transmission:
<xacro:macro name="transmission_block" params="joint_name"> <transmission name="tran1"> <type>transmission_interface/SimpleTransmission</type> <joint name="${joint_name}"> <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface> </joint> <actuator name="motor1"> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> </xacro:macro>
Here, <joint name = ""> is the joint in which we link the actuators. The <type> element is the type of transmission. Currently, transmission_interface/SimpleTransmission ...