Fanuc URDF transmission tags for gazebo

[akashjinandra]

Hello is it possible to add the transmission files in the urdf to allow ROS Control to function correctly in gazebo. I know alot of the open PR regarding gazebo did not pass, so is there any push to allow for that.

[gavanderhoorn]

I'm not really a fan of adding Gazebo specific elements to the base URDFs.

In the PR you reference (I believe that would be #20), those elements are added by a wrapper xacro:macro which is hosted by a special _gazebo package.

We could add such a _gazebo package for the model you're interested in.

I know alot of the open PR regarding gazebo did not pass, so is there any push to allow for that.

See the later comments on #21 fi.

[gavanderhoorn]

I'm going to close this due to inactivity.

@akashjinandra: if you'd be interested in addressing this, please comment and we can re-open.

[gavanderhoorn]

There appears to be some development in kinetic-devel...BastianSolutionsRandD:200_id7l_gazebo.

It looks like this follows the approach taken in the old ur_gazebo package.

From a dependency management perspective, it would be better to not modify the base _macro.xacros. Have you considered the wrapper _gazebo package?