Joint with world

[emusman-lab]

Hey
I have a mobile robot. When I stop it on a location in world it slips from its original location after some time.
So basically, I want to use your code to create a joint between base_link of the robot and the world (with some fix frame). This will make the robot fix. When I want to move it again, I will remove the joint. I can do this in robot xacro file but then I cannot move it at all. So, I want to do it dynamically. So please let me know can I acheive it with this plugin.
Thank you for your time.