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move_base and object manipulation

asked 2015-03-19 06:40:56 -0500

Vsevolod gravatar image

We have a square-shaped differential drive robot with two grippers installed at its corners. We want to use it for gripping cylinder-like objects in a relatively narrow space environment. The problem is that move_base is able only to construct and follow path from the center of the robot to any point, as far as I know, but not from robot's gripper to the object. Is there any way to change the behavior of move_base or use Moveit! with diff drive robot?

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answered 2015-03-19 07:43:54 -0500

dornhege gravatar image

Yes and no.

The direct solution to your problem is what you put in it as the request. You must know, where the gripper is relative to your robot, so you can easily transform the target pose for the gripper at the object into a target pose for the base. This is what you put into move_base.

However, that is just the interface. The default global planner might work, but is not necessarily best suited for this project. You might check out sbpl_lattice_planner or similar.

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Asked: 2015-03-19 06:40:56 -0500

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Last updated: Mar 19 '15