+
+ <transmission name="left_wheel_trans" type="SimpleTransmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="left_wheel_joint">
+ <hardwareInterface>VelocityJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="left_wheel_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>
+
+ <transmission name="right_wheel_trans" type="SimpleTransmission">
+ <type>transmission_interface/SimpleTransmission</type>
+ <joint name="right_wheel_joint">
+ <hardwareInterface>VelocityJointInterface</hardwareInterface>
+ </joint>
+ <actuator name="right_wheel_motor">
+ <mechanicalReduction>1</mechanicalReduction>
+ </actuator>
+ </transmission>