moveIt! for differential drive mobile robots
Hi everyone!
I'm currently looking for a motion planner for implementing 2D and 3D navigation for a differential drive mobile robot.
As far as I read from this forum, the moveIt!
google group and internet in general, it should be possible to implement navigation with moveIt!
.
The task for the robot is navigation in a 2D or 3D indoor environment (probably with ramps, slopes, etc...) with only few obstacles. There could be also some moving obstacles (e.g. people). In particular, the robot should follow a bustrophedic path.
My questions are:
- Did someone succed in setting up moveit for a differential drive robot?
- Is there a clear example, excluding the standard
moveit_setup_assistant
example and other tutorials on themoveIt!
website, which are clearly for manipulators, for a differential drive robot setup inmoveIt!
? - Is there any advantage in using
moveIt!
instead of the good-oldmove_base
for this task?