> <transmission name="joint_p-a1_trans" type="SimpleTransmission">
>                <actuator name="joint_p-a1_motor" />
>                <joint name="joint_p-a1" />
>                <mechanicalReduction>1</mechanicalReduction>
>                <motorTorqueConstant>1</motorTorqueConstant>
>    </transmission>
>
> in the yaml:
>
>  my_controller_ns:
>    type: MyControllerPlugin
>    wheel1: joint_c-w1

The joint name in the transmission is different from the joint name in
the yaml. Could that be your problem?

Wim


-- 
--
Wim Meeussen
Willow Garage Inc.
<http://www.willowgarage.com)