Example for usage of transmission

[firesurfer]

Hi everyone, I asked this question first in the ros2_control_demos (ros-controls/ros2_control_demos#216) and it was suggested to ask the question in this repository.

I am looking for an example how to actually use a transmission element in the hardware_interface.

In my xacro file I have a transmission specified like this

<transmission name="mytransmission>
          <plugin>transmission_interface/SimpleTransmission</plugin>
          <joint name="${name}" role="${prefix}${name}_actuator">
                <mechanical_reduction>5.0</mechanical_reduction>
          </joint>
</transmission>

When writing a hardware interface i can access the via the hardware_interface::HardwareInfo &system_info passed in the on_init method.

Unfortunately I couldn't find any examples for best practices on how to actually use the transmission in the hardware interface.

[destogl]

@bmagyar that's your expertise :D

[firesurfer]

See ros-controls/ros2_control_demos#226 for an example