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 the `moveIt!` website, which are clearly for manipulators, for a differential drive robot setup in `moveIt!`?
- Is there any advantage in using `moveIt!` instead of the good-old `move_base` for this task?
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