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Hi again,

I found an easy solution in the base of ROS.

Basically, I considered my base joints(PPR) as aregular joint and then use this information to send it to my specific robot through a custom Hardware Interface.

http://wiki.ros.org/hardware_interface

In my personal case, I based my HW interface in David Coleman's ros_control boilerplate. Here Github link:

https://github.com/davetcoleman/ros_control_boilerplate

I hope this could be useful for those people willing to do mobile manipulation.

Bye!