From e0659159b5328bba12f1a69f1214d54632476338 Mon Sep 17 00:00:00 2001
From: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
Date: Wed, 27 Oct 2021 19:49:12 +0200
Subject: [PATCH] Expose transmission argument in franka_gazebo/panda.launch

---
 franka_description/robots/panda_arm.urdf.xacro | 11 ++++++-----
 franka_gazebo/launch/panda.launch              |  2 ++
 2 files changed, 8 insertions(+), 5 deletions(-)

diff --git a/franka_description/robots/panda_arm.urdf.xacro b/franka_description/robots/panda_arm.urdf.xacro
index 36ea8b192..0be09b304 100644
--- a/franka_description/robots/panda_arm.urdf.xacro
+++ b/franka_description/robots/panda_arm.urdf.xacro
@@ -1,14 +1,15 @@
 <?xml version='1.0' encoding='utf-8'?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="panda">
 
-  <xacro:arg name="arm_id" default="panda" /> <!-- Name of this panda -->
-  <xacro:arg name="hand"   default="false" /> <!-- Should a franka_gripper be mounted at the flange?" -->
-  <xacro:arg name="gazebo" default="false" /> <!-- Is the robot being simulated in gazebo?" -->
+  <!-- Name of this panda -->
+  <xacro:arg name="arm_id" default="panda" />
+  <!-- Should a franka_gripper be mounted at the flange?" -->
+  <xacro:arg name="hand" default="false" />
+  <!-- Is the robot being simulated in gazebo?" -->
+  <xacro:arg name="gazebo" default="false" />
   <!-- The transmission type that is used to control arm joints in gazebo: position, velocity, or effort -->
   <xacro:arg name="transmission" default="effort" />
 
-  <xacro:property name="arm_id" value="$(arg arm_id)" />
-
   <xacro:unless value="$(arg gazebo)">
     <!-- Create a URDF for a real hardware -->
     <xacro:include filename="$(find franka_description)/robots/panda_arm.xacro" />
diff --git a/franka_gazebo/launch/panda.launch b/franka_gazebo/launch/panda.launch
index 8090742b5..ffd000e0b 100644
--- a/franka_gazebo/launch/panda.launch
+++ b/franka_gazebo/launch/panda.launch
@@ -11,6 +11,7 @@
   <!-- Robot Customization -->
   <arg name="arm_id"      default="panda" doc="Name of the panda robot to spawn" />
   <arg name="use_gripper" default="true"  doc="Should a franka hand be mounted on the flange?" />
+  <arg name="transmission" default="effort" doc="Transmission type used for arm joints. One of position, velocity, effort." />
   <arg name="controller"  default=" "     doc="Which example controller should be started? (One of {cartesian_impedance,model,force}_example_controller)" />
   <arg name="x"           default="0"     doc="How far forward to place the base of the robot in [m]?" />
   <arg name="y"           default="0"     doc="How far leftwards to place the base of the robot in [m]?" />
@@ -43,6 +44,7 @@
          command="xacro $(find franka_description)/robots/panda_arm.urdf.xacro
                   gazebo:=true
                   hand:=$(arg use_gripper)
+                  transmission:=$(arg transmission)
                   arm_id:=$(arg arm_id)
                   xyz:='$(arg x) $(arg y) $(arg z)'
                   rpy:='$(arg roll) $(arg pitch) $(arg yaw)'">