Let's consider the mobile base we created in Chapter 3, Building an Industrial Mobile Manipulator, for this example. The workspace is available in GitHub at the following link: https://github.com/PacktPublishing/ROS-Robotics-Projects-SecondEdition/tree/master/chapter_3_ws/src/robot_description. Download it in to a new workspace and then compile the workspace. The robot base is launched using the following commands:
$ initros1$ roslaunch robot_description base_gazebo_control.xacro.launch
You should then see the gazebo model, as shown here:
Gazebo view of the robot base model
Now, our intent ...
