Now that we have the complete model for our robot base, let's put it into action and see how our base moves. Follow these steps:

1. Let's create a launch file that will spawn the robot and its controllers. Now, go into the launch folder and create the following launch file:

$ cd ~/chapter3_ws/src/robot_description/launch
$ gedit base_gazebo_control_xacro.launch

2. Now, copy the following code into it and save the file:

<?xml version="1.0"?>

<launch>
  <param name="robot_description" command="$(find xacro)/xacro --inorder $(find robot_description)/urdf/robot_base.urdf.xacro" />
  <include file="$(find gazebo_ros)/launch/empty_world.launch"/>
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-param robot_description -urdf -model robot_base" />
  <rosparam command="load" file="$(find robot_description)/config/control.yaml" />
  <node name="base_controller_spawner" pkg="controller_manager" type="spawner" args="robot_base_joint_publisher robot_base_velocity_controller"/>

</launch>

3. Now, you can visualize your robot by running the following command:

$ cd ~/chapter3_ws
$ source devel/setup.bash
$ roslaunch robot_description base_gazebo_control_xacro.launch

Once the Gazebo environment launches, you should see something like the following without any error prompt:

4. You can view the necessary ROS topics by opening another Terminal and running rostopic list:

$ initros1
$ rostopic list

The following screenshot shows the list of ROS topics:

The Gazebo view of the robot should be as follows:

5. Try using the rqt_robot_steering node and move the robot, as follows:

$ rosrun rqt_robot_steering rqt_robot_steering

In the window, mention our topic, /robot_base_controller/cmd_vel. Now, move the sliders slowly and see how the robot base moves around.

We have completed our robot base. Now, let's learn how to build the robot arm.