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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>