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As @Ben_s mentioned, the navigation stack supports holonomic (omni-direction) path planning. The pr2 has this ability. If you set the holonomic_robot parameter to true, move_base will generate plans that contain both x and y motion, and it will output a cmd_vel message with an x, y, and theta component, rather than just an x and theta. It's up to you to interpret this message appropriately for the drive train of your robot.

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