ROS_OP_open_manipulator_urdf_xacro - 8BitsCoding/RobotMentor GitHub Wiki

<!-- Import all Gazebo-customization elements, including Gazebo colors -->
<xacro:include filename="$(find open_manipulator_description)/urdf/open_manipulator.gazebo.xacro" />
<!-- Import Rviz colors -->
<xacro:include filename="$(find open_manipulator_description)/urdf/materials.xacro" />

  <!-- Transmission macro -->
  <xacro:macro name="SimpleTransmission" params="joint n">
    <transmission name="tran${n}">
      <type>transmission_interface/SimpleTransmission</type>
      <joint name="${joint}">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      </joint>
      <actuator name="motor${n}">
        <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
        <mechanicalReduction>1</mechanicalReduction>
      </actuator>
    </transmission>
  </xacro:macro>

<!-- Transmission 6 -->
  <xacro:SimpleTransmission n="6" joint="gripper_sub" />