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In this tutorial is said not to use joints because they may provoke problems to the simulator due to the constraints they put on the physics engine. http://gazebosim.org/wiki/Tutorials/1.2/build_robot/mobile_base I moved everything to the main body and removed the joint. Now everything work smoothly.

In this tutorial is said not to use joints because they may provoke problems to the simulator due to the constraints they put on the physics engine. http://gazebosim.org/wiki/Tutorials/1.2/build_robot/mobile_base I moved everything to the main body and removed the joint. Now everything ~~work~~ works smoothly.

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