Controlling a Mobile Base with MoveIt!

[samue...@gmail.com]

Hello,

I would like to plan the motions of a robot mobile base with MoveIt! in RoS Indigo.
The example of controlling a mobile base given in your book and those found in Internet are done with the move_base package using the navigation stack.
It seems like nobody is using MoveIt! to create the motions of a mobile base and I'm actually wondering if it is possible with this software.

Thank you,
Best regards,
Samuel

[Patrick Goebel]

Hi Samuel,

We had a similar question on the forum a while back.  The short answer is that this will only work for a holonomic robot like the PR2 where the base can move in any direction without having to rotate first.  The main reason for this is that MoveIt! cannot plan for multi-degree-of-freedom joints like the planar virtual base_odom joint.  There is a post on the MoveIt! forum suggesting you could replace the planar base_odom joint with two prismatic joints and one revolute joint.  This might allow MoveIt! to plan the motion but you would still need to implement the plan with a custom base controller.

So for now, people using differential drive robots use a combination of move_base for planning motion of the whole robot and MoveIt! for planning arm motion.  Of course, you *could* built your own holonomic robot such as this Lego model.  But you would probably have to write your own ROS base controller for it.

--patrick

--
The Pi Robot Project
http://www.pirobot.org/wordpress

[samue...@gmail.com]

Hello,

Thank you for your answer. I think the best way for me will be to use move_base for planning motion of the whole robot.

Regards,
Samuel

[Tim Murphy]

Hello Patrick and Samuel,

It looks like this is as far as people have gotten with the Lego Mindstorms EV3 and ROS. Just a listener and talker. They had to run roscore on a remote computer. You would think there would be a made dash to port anything that was done with the NXT to the EV3. I was trying to get me son to do this, but, he got stuck at installing Ubuntu on his Windows 8 machine :-(

Thanks,

Tim

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