constant transmision values for Gazebo

edit

Hi all,

I have a simulated PTU which is not controlled, so that it constantly swings around in Gazebo. I don't want to spend time writing a controller for it, I would just be happy if the PTU could just stay at a fixed angles but I don't know how to do it without writing a controller.

Is there a way to tell Gazebo that the PTU should always stay at a fixed set of angles?

I suppose it must be something inside the transmission file, which currently contains the following:

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:macro name="ptu_transmission" params="name">

        <!-- Pan assembly -->
        <transmission name="${name}_pan_trans">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${name}_pan">
                <hardwareInterface>EffortJointInterface</hardwareInterface>
            </joint>
            <actuator name="${name}_pan_motor">
                <hardwareInterface>EffortJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>

        <!-- Tilt assembly -->
        <transmission name="${name}_tilt_trans">
            <type>transmission_interface/SimpleTransmission</type>
            <joint name="${name}_tilt">
                <hardwareInterface>EffortJointInterface</hardwareInterface>
            </joint>
            <actuator name="${name}_tilt_motor">
                <hardwareInterface>EffortJointInterface</hardwareInterface>
                <mechanicalReduction>1</mechanicalReduction>
            </actuator>
        </transmission>

    </xacro:macro>

</robot>