changes to urdf files for gazebo support

ur5_description/urdf/arm.transmission.xacro

+<?xml version="1.0"?>
+
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+	<xacro:macro name="ur_arm_transmission" params="name">
+
+
+
+		<transmission name="shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
+			<actuator name="shoulder_pan_motor"/>
+			<joint name="${name}shoulder_pan_joint"/>
+			<mechanicalReduction>1</mechanicalReduction>
+		</transmission>
+	
+		<transmission name="shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
+			<actuator name="shoulder_lift_motor"/>
+			<joint name="${name}shoulder_lift_joint"/>
+			<mechanicalReduction>1</mechanicalReduction>
+		</transmission>
+	
+		<transmission name="elbow_trans" type="pr2_mechanism_model/SimpleTransmission">
+			<actuator name="elbow_motor"/>
+			<joint name="${name}elbow_joint"/>
+			<mechanicalReduction>1</mechanicalReduction>
+		</transmission>
+	
+		<transmission name="wrist_1_trans" type="pr2_mechanism_model/SimpleTransmission">
+			<actuator name="wrist_1_motor"/>
+			<joint name="${name}wrist_1_joint"/>
+			<mechanicalReduction>1</mechanicalReduction>
+		</transmission>
+	
+		<transmission name="wrist_2_trans" type="pr2_mechanism_model/SimpleTransmission">
+			<actuator name="wrist_2_motor"/>
+			<joint name="${name}wrist_2_joint"/>
+			<mechanicalReduction>1</mechanicalReduction>
+		</transmission>
+	
+		<transmission name="wrist_3_trans" type="pr2_mechanism_model/SimpleTransmission">
+			<actuator name="wrist_3_motor"/>
+			<joint name="${name}wrist_3_joint"/>
+			<mechanicalReduction>1</mechanicalReduction>
+		</transmission> 
+
+
+	</xacro:macro>
+
+</robot>

ur5_description/urdf/model.urdf.xacro

 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro" >
+<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:xacro="http://ros.org/wiki/xacro">
+
+<include filename="$(find ur5_description)/urdf/arm.transmission.xacro" />
 
 <!--
 DH for UR5:
@@ -253,6 +258,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
 
 
   <!-- Extra links for collision model -->
+  <!-- Somehow don't work with gazebo TODO: fix this
   <joint name="${prefix}shoulder_collision_joint" type="fixed">
     <parent link="${prefix}upper_arm_link" />
     <child link = "${prefix}shoulder_collision_link" />
@@ -278,6 +284,9 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
       <origin xyz="0.0 ${-elbow_collision_offset} ${upper_arm_length}" rpy="${pi / 2.0} 0.0 0.0" />
     </collision>
   </link>
+  -->
+
+  <xacro:ur_arm_transmission name="${prefix}" />
 
   <gazebo reference="universal_robot">
     <material>Gazebo/Blue</material>