In this chapter, we understood how a robot can be defined, modeled, and simulated in ROS with the help of Gazebo. We defined the robot's physical characteristics through plugins that were available in Gazebo. We began with creating a robot base, created a five DOF robot arm, and finally, put them together to create a mobile manipulator. We simulated the robot in Gazebo to understand how a robot application could be defined in ROS. This chapter helped us understand the use of robots in industries.

With this understanding, let's move on to the next chapter, where we will learn how the robot can handle complex tasks. Then, we will learn how to create a robot application in ROS and simulate it in Gazebo.