Putting things together

You have now created a robot base and robot arm successfully and have simulated them in Gazebo. Now we're just one step away from getting our mobile manipulator model.

Modeling the mobile manipulator

The use of xacro will help us connect both with ease. Before creating the final URDF, let's understand something that we saw in the Successful Gazebo launch screenshot. The arm needs to connect to the base, and that's our goal. Hence, all you need to do now is connect the robot arm's arm_base link to the robot base's base_link. Create a file called mobile_manipulator.urdf.xacro and copy the following code into it:

<?xml version="1.0"?>

<robot xmlns:xacro=&quot...