Coordinating Nav2 w/ Moveit2
I currently have a robot platform (diff drive) that has Nav2 (galactic) fully integrated and functional. On this platform there is are multiple linear axes that traverse the width of the robot (orthogonal to the direction of motion). These linear axes are all immediate children of the robot platform, meaning they are all independent siblings.
The linear axes will need to both avoid obstacles on the ground as well as intercept with target positions in the map frame. The robot's platform will be driving in a straight line and at a constant speed during the time the linear axes will need to traverse to avoid hitting objects on the ground and intercept with target objects. Conceptually, this is two linear axes (x&y) where the x-axis is controlled by Nav2.
I'm assuming the best path forward is to control the motion of the linear axis with Moveit2. However, I'm unsure if it is even feasible. I'm assuming if I give moveit one joint to plan for, it will not be able to calculate a path. This leads me to believe I will need to "pretend" to give moveit control of the robot's platform. Then constrain that robot platform joint (virtual planar) so moveit is forced to develop a plan for that axis that mirrors the constant velocity and direction that Nav2 is controlling for.
Is this concept feasible? I'm struggling to determine how or if I can constrain for both velocity and direction on a planar joint. Is there a less hacky approach to this problem?