How to move a robot imported from a URDF file?

My code so far:

%% Load Roomba

clear; clc; close all

%load roomba and plot

roomba = importrobot('myroomba.urdf');

figure

show(roomba)

Works great. This is a robot with two side wheels and an navigator wheel in the front. I just want it to move forward at least. Attached is what it looks like.

URDF Text:

<robot name="myroomba">

<!-- * * * Material Definitions * * * -->

<material name="Gray">

<color rgba="1 1 1 0"/>

</material>

<material name="Black">

<color rgba="0 0 0 1"/>

</material>

<!-- * * * Link Definitions * * * -->

<link name="base_link">

<visual>

<origin xyz="0 0 0" rpy="0 0 0"/>

<geometry>

<cylinder radius="0.2" length=".1"/>

</geometry>

<material name="Gray"/>

</visual>

</link>

<link name="rwheel">

<visual>

<origin xyz="0 0 0" rpy="0 0 0"/>

<geometry>

<cylinder radius="0.05" length="0.025"/>

</geometry>

<material name="Black"/>

</visual>

</link>

<link name="lwheel">

<visual>

<origin xyz="0 0 0" rpy="0 0 0"/>

<geometry>

<cylinder radius="0.05" length="0.025"/>

</geometry>

<material name="Black"/>

</visual>

</link>

<link name="fwheel">

<visual>

<origin xyz="0 0 0" rpy="0 0 0"/>

<geometry>

<cylinder radius="0.05" length="0.025"/>

</geometry>

<material name="Black"/>

</visual>

</link>

<!-- * * * Joint Definitions * * * -->

<joint name="base_joint" type="revolute">

<parent link="base_link"/>

<child link="rwheel"/>

<origin xyz="0.15 0 -.05" rpy="0 1.57 0"/>

<limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>

<axis xyz="0 1 0"/>

</joint>

<joint name="base_joint1" type="revolute">

<parent link="base_link"/>

<child link="lwheel"/>

<origin xyz="-0.15 0 -0.05" rpy="0 1.57 0"/>

<limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>

<axis xyz="0 1 0"/>

</joint>

<joint name="base_joint2" type="revolute">

<parent link="base_link"/>

<child link="fwheel"/>

<origin xyz="0 0.13 -.05" rpy="0 1.57 0"/>

<limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>

<axis xyz="0 1 0"/>

</joint>

</robot>