Let's look into the technical requirements for this chapter:

• ROS Melodic Morenia on Ubuntu 18.04, with Gazebo 9 (preinstalled)
• ROS packages: ros_control, ros_controllers, and gazebo_ros_control
• Timelines and test platform:
  • Estimated learning time: On average, 120 mins
  • Project build time (inclusive of compile and run time): On average, 90 mins
  • Project Test platform: HP Pavilion laptop (Intel® Core™ i7-4510U CPU @ 2.00 GHz × 4 with 8 GB Memory and 64-bit OS, GNOME-3.28.2)

The code for this chapter is available at https://github.com/PacktPublishing/ROS-Robotics-Projects-SecondEdition/tree/master/chapter_3_ws/src/robot_description.

Let's begin this chapter by understanding mobile manipulators.