base motion planner with OMPL
Hi there, I wanted to create motion plans for my robot base (and not for an arm) using OMPL (more specifically RRT). I have found the ompl_planner_base package, but I get an error from svn:
https://code.ros.org/svn/wg-ros-pkg/branches/trunk_cturtle/sandbox/ompl_planner_base' doesn't exist
Is there any tweak to use the arm_navigation stack to provide plans for a robot base (ideally integrated with the navigation stack)?