positioning mobile manipulator

edit

Hi there,

I am working on a mobile manipulator system. I need to position the mobile platform very close to a table, so that the arm can reach the objects on top of the table. But the navigation stack won't allow me to position so close to the table, as it is detected as an obstacle. Also the final position needs to be quite precise, mainly in terms of rotation to ensure reachability.

Is there a way to overcome this?