From ad1757d96237004e42aa2a63144d4d9cbbd2f12c Mon Sep 17 00:00:00 2001
From: Walter Fetter Lages <w.fetter@ieee.org>
Date: Wed, 21 Mar 2018 13:36:45 -0300
Subject: [PATCH] Bug fixes.

twil_description: include transmisions
twil_ident: enable install target on CMakeLists.txt
twil_controllers: use namespace on joint_effort.launch
---
 twil_controllers/launch/joint_effort.launch   |  2 +-
 twil_description/xacro/fixed_wheel.urdf.xacro | 11 +++++++++++
 twil_ident/CMakeLists.txt                     |  6 +++---
 3 files changed, 15 insertions(+), 4 deletions(-)

diff --git a/twil_controllers/launch/joint_effort.launch b/twil_controllers/launch/joint_effort.launch
index 1138f8a..0fe3514 100644
--- a/twil_controllers/launch/joint_effort.launch
+++ b/twil_controllers/launch/joint_effort.launch
@@ -11,6 +11,6 @@
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
     output="screen" ns="/twil" args="left_wheel_joint_effort_controller right_wheel_joint_effort_controller joint_state_controller"/>
 
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" ns="/twil" />
 
 </launch>
diff --git a/twil_description/xacro/fixed_wheel.urdf.xacro b/twil_description/xacro/fixed_wheel.urdf.xacro
index dfc8761..862bdf1 100644
--- a/twil_description/xacro/fixed_wheel.urdf.xacro
+++ b/twil_description/xacro/fixed_wheel.urdf.xacro
@@ -34,6 +34,17 @@
     <axis xyz="0 1 0" />
   </joint>
 
+  <transmission name="${name}_transmission">
+    <type>transmission_interface/SimpleTransmission"</type>
+    <joint name="${name}_joint">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+    </joint>
+    <actuator name="${name}_motor">
+      <hardwareInterface>EffortJointInterface</hardwareInterface>
+      <mechanicalReduction>1</mechanicalReduction>
+    </actuator>
+  </transmission>
+
   <gazebo reference="${name}">
     <material>Gazebo/FlatBlack</material>
   </gazebo>
diff --git a/twil_ident/CMakeLists.txt b/twil_ident/CMakeLists.txt
index bb4fe69..ad82545 100644
--- a/twil_ident/CMakeLists.txt
+++ b/twil_ident/CMakeLists.txt
@@ -130,11 +130,11 @@ include_directories(
 # )
 
 ## Mark executables and/or libraries for installation
-# install(TARGETS twil_ident twil_ident_node
+install(TARGETS twil_ident twil_ident_node
 #   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
 #   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
+   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
 
 ## Mark cpp header files for installation
 # install(DIRECTORY include/${PROJECT_NAME}/
-- 
2.12.0