Is it possible to define a virtual Robot Arm Base Link in ROS MoveIt Planning Scene
I am currently calculating possible robot positions from pointcloud data surrounding an target object which is to be manipulated by an mobile robot with a 6 DOF arm. I know how to plan trajectories using ROS MoveIt like described in:
https://ros-planning.github.io/moveit...
My Question is, is it possible to "virutally" change the robots arm base link position and perform tracetory planning from that position. I'd like to use it to check if my previously calculated positions are useful.
Thank you in advance!