Talk:Tutorials/1.9/Using A URDF In Gazebo

To my current understanding, the text "If however you have a mobile base or some other moving robot, you do not need this link or joint." is misleading, as follows. I have just now, after some hours of tearing my hair, discovered that if I use a joint of type "floating" in the URDF I can control what ends up in the SDF element , and thus control how my mobile robot model is positioned in the world when Gazebo is started. This text had led me to believe that a joint between the world and my robot was not the solution. I suggest, therefore, that we modify this text to at least include the case that if you are using a mobile robot, you want a joint of type "floating" to position it in the world, which will be parsed into SDF blah blah blah. It's also possible that this isn't the only way to position a mobile robot in an SDF world through URDF, or even the preferred way, but it's all I've found so far that works. Anyway...