Hi John,
ok with he transmission file it works fine and 
"rosrun pr2_controller_manager pr2_controller_manager list-joints" find the
joints which i need.
Ok just in this minute i find the 
http://www.ros.org/wiki/pr2_mechanism/Tutorials/SImple%20URDF-Controller%20Example
tutorial   , there is stated "!-- Transmission is important to link the
joints and the controller -->" now things are clear.
Is it correct that this tutorial is not on the 
http://www.ros.org/wiki/pr2_mechanism/Tutorials pr2_mechanism/Tutorials 
side (or am i blind)? 
Thanks a lot for your help
Marc
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