# Revision history [back]

check the usage for the transmission elements in Indigo I had to make changes to something like the following when I went to Indigo.

 <transmission name="tran2">
<type>transmission_interface/SimpleTransmission</type>
<joint name="joint2">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="motor2">
<mechanicalReduction>1</mechanicalReduction>
<motorTorqueConstant>10</motorTorqueConstant>
</actuator>
</transmission>