Dynamic path planner for moveit

[Hossam Moghrabi]

Hi there friends,

I want to make a robot that could recognize dynamic obstacles and estimate their future movements, in order to adjust its path planning accordingly.


Thus I need a dynamic path planner that I should write to take info from other nodes that detects dynamic targets and estimates their future movements... Now it comes to actually moving the robot.

I chose Moveit instead of navigation stack because it is 3D, a TRUE 3D one. I need a way to implement the dynamic path planner with moveit... is that possible? how? can you give an example?

thanks!

Side note: my robot will be a diff drive one (but with 2 front wheels without motors), can this be integrated with ROS MoveIt!?

regards!

[Hossam Moghrabi]

anyone?

is there a way to make moveit control diff drive robot? assuming i can write drivers for it.

[Matt Anderson]

I think you probably want move_base.  Unless there has been some improvements I'm not aware of(highly possible), Moveit cannot operate on non-holonomic base. https://groups.google.com/forum/#!topic/moveit-users/NNvRNHeiYrw