Simulation fails to launch with freeze_base_link = false (OCEANWATER-1233)

[AstroStucky]

Adapted from Jira OCEANWATER-1233 originally reported by @mogumbo

What happens

Making freeze_base_link equal false in common.launch (its default is true) causes the simulation to not properly start. Shader initialization appears to break resulting in the attached image.

And the following is repeated 4 times in the simulation log.

[ WARN:/move_group_commander_wrappers_1722577868088263923] The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.

This longstanding bug is the reason all world launch files exclude freeze_base_link from their argument list, and always include common.launch with the argument set to true.

What should happen

When freeze_base_link is false the lander should be an untethered body in the world capable of being pushed by forces.