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Actuators are defined in config files for the ethercat_hardware package: http://ros.org/wiki/ethercat_hardware

You don't need actuators if you only use the gazebo_ros_controller_manager for simulation. In the transmission documentation it says:

The transmission element is an extension to the URDF robot description model. This extension is only used for the PR2 robot, and is not meant to be reusable for other robots.

Actuators are defined in config files for the ethercat_hardware package: http://ros.org/wiki/ethercat_hardware

You don't really need actuators if you only use the gazebo_ros_controller_manager for simulation. In the transmission documentation it says:

The transmission element is an extension to the URDF robot description model. This extension is only used for the PR2 robot, and is not meant to be reusable for other robots.robots. However I should mention that you do need the transmission and actuator tags in your model for the gazebo_ros_controller_manager plugin to work, but it doesn't matter what names you specify for the actuators.

Actuators are defined in config files for the ethercat_hardware package: http://ros.org/wiki/ethercat_hardware

You don't really need actuators if you only use the gazebo_ros_controller_manager for simulation. In the transmission documentation it says:

The transmission element is an extension to the URDF robot description model. This extension is only used for the PR2 robot, and is not meant to be reusable for other robots. robots.

However I should mention that you do need the transmission and actuator tags in your model for the gazebo_ros_controller_manager plugin to work, but it doesn't matter what names you specify for the actuators.