Revision history [back]

As long as the path planning package is configured correctly, I think the only other thing required is a complete transform tree. Typically, there is a map->odom transform, and a odom->base_link transform. As long as you run nodes that provide these transforms, you can probably use the global path planner just fine.

If you have a robot model with all these transforms, the easiest thing is probably to load the robot, but redirect the output of move_base so that it is unable to send to cmd_vel.