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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>