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[Moveit!] 3D navigation for robot without arm

asked 2017-04-17 05:26:41 -0600

simon.xm.lee gravatar image

I know Moveit! is the most used for robot with arms or quadrotors. My robot has no arm and only can move by wheels. It can navigate by 2D navigation stack(costmap_2d) now. Maybe my robot will has arms in the future, therefore I want to use 3D navigation stack(Moveit!). Can I use Moveit! to do 3D navigation even the robot without arm?

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Whats the problem with navigating your robot in 2d e.g. from the table do the fridge and do only the short range arm operations in 3d?

Humpelstilzchen gravatar image Humpelstilzchen  ( 2017-04-18 02:32:58 -0600 )edit

I just survey the feasibility by using the 2D navigation with Moveit!. My robot has no arm.

simon.xm.lee gravatar image simon.xm.lee  ( 2017-04-18 20:25:47 -0600 )edit

BTW, my robot is differential drive robot

simon.xm.lee gravatar image simon.xm.lee  ( 2017-04-18 21:14:39 -0600 )edit

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answered 2017-04-18 20:03:59 -0600

simon.xm.lee gravatar image

Now I just survey the feasibility by using the 2D navigation with Moveit!, because my robot has no arm. I just want to know whether moveit! can do 2D navigation as costmap_2d.

I find someone said that the Moveit! cannot do 2D navigation now and developer should write the navigation planner for 2D navigation. Therefore I start to doubt the 2D navigation function of Moveit!. In addition, I find lots of moveit! tutorials and simulation videos only present the arm motion planning but no 2D path planning.

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Asked: 2017-04-17 05:26:41 -0600

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Last updated: Apr 18 '17