could ompl deal with mobile manipulation?

edit

dear all, i've finished the object manipulation with the amazing stack arm_navigation. that is, now my robot can grasp objects from a table while the robot base is fixed. however, due to the limited workspace of the arm, the robot can only grasp objects within a small region. it cannot even cover the whole table. so i'm wondering that, if we can plan a location for the robot base while do the arm motion planning? for example, the robot goes to the other side of the table to grasp objects there? according to my understanding about RRT, this is merely an addition of 3 degrees in the searching space, that is, the x,y, and rotation of the base. can we do this with the current planning_description_configuration_wizard? or does anybody have any hit for this task?

thanks in advance.

EDIT: dear pirate, although you've pointed a direction for me, i'm still confused about the details. do you mean that i need to modify the file MyRobot_planning_description.yaml generated by the wizard? if so, how should i modify? in the beginning of MyRobot_planning_description.yaml, it is:

multi_dof_joints:
  - name: world_joint
    type: Fixed
    parent_frame_id: base_link
    child_frame_id: base_link
groups:
  - name: left_arm
    base_link: base_link
    tip_link: left_link7

as you said, i need to add a P-R-P or P-P-R joint, where should i add this information?

besides, since i'm planning for the arm manipulation in the joint space instead of the task space, i need to first convert the goal pose to the joint space with IK. that means i must first determine the robot base's position, and then do the arm planning. in this way the whole planning is acturally split into two parts: first the planning for the base in SE(3), then the planning for the arm in the configuration space. however, i hope that the planner can treat the whole planning as one part.

don't know if i've put myself clearly :-( but i would really appreciate it if you could provide more details about your realization.

thanks again.