Creating the robotic arm simulation model for Gazebo

We can create the simulation model for a robotic arm by updating the existing robot description by adding simulation parameters.

We can create the package needed to simulate the robotic arm using the following command:

catkin_create_pkg seven_dof_arm_gazebo gazebo_msgs gazebo_plugins gazebo_ros gazebo_ros_control mastering_ros_robot_description_pkg  

Alternatively, the full package is available in the following Git repository; you can clone the repository for a reference to implement this package, or you can get the package from the book's source code:

git clone https://github.com/PacktPublishing/Mastering-ROS-for-Robotics-Programming-Third-edition.git
cd Chapter4/seven_dof_arm_gazebo

You can see the complete simulation model of the robot in the seven_dof_arm.xacro file, placed in the mastering_ros_robot_description_pkg/urdf/ folder.

The file is filled with URDF tags, which are necessary for the simulation...