Can someone point me to a good (full) example of a RobotHW subclass that uses TransmissionInterfaceLoader/RobotTransmissions to load transmission information from the URDF and read/write transformed data to/from some lower level hardware? I'm trying to reconcile these examples:

1. http://docs.ros.org/kinetic/api/transmission_interface/html/c++/classtransmission__interface_1_1TransmissionInterfaceLoader.html#details 2. http://docs.ros.org/kinetic/api/transmission_interface/html/c++/index.html#example

I'm getting hung up on what data structures store the pos/vel/effort data for read/write, and whether my class needs to set them up, or they're already present in RobotTransmissions.

Thanks!