[pr2eus_moveit] planning with base

[furushchev]

I'm totally a moveit newbie.
I found the config file of pr2:

    <group name="whole_body">
        <group name="base" />
        <group name="arms" />
        <group name="torso"/>
    <group/>

refer: https://github.com/jsk-ros-pkg/jsk_pr2eus/blob/master/pr2eus_moveit/euslisp/pr2eus-moveit.l#L81-L82

Does it mean we can plan a collision aware motions including not only arm / torso but also base?
If so, how do I use pr2eus_moveit to plan with base?
@YoheiKakiuchi @k-okada

[YoheiKakiuchi]

Does it mean we can plan a collision aware motions including not only arm / torso but also base?

yes

If so, how do I use pr2eus_moveit to plan with base?

not implemented yet

[k-okada]

On Sun, Jun 19, 2016 at 6:46 PM, Furushchev [email protected]
wrote:

If so, how do I use pr2eus_moveit to plan with base?

I think so , but it may not so usefull, i think

◉ Kei Okada

[YoheiKakiuchi]

it may not so usefull, i think

+1

[furushchev]

@YoheiKakiuchi @k-okada Could you explain why you think so? I don't have such an impression at all now.

[k-okada]

• from theroy navigaiton planning and motion planing are same
• so if we create C-space of base, you can create navigation planning ->
  出来ている
• but if you try to run this on real robot you have to care about many
  thinngs, speed/accel limitation, recovery mode....
• and I haven't seen anyone using this feature on real robots -> 出来ていない

◉ Kei Okada

On Mon, Jun 20, 2016 at 1:26 PM, Furushchev [email protected]
wrote:

@YoheiKakiuchi https://github.com/YoheiKakiuchi @k-okada
https://github.com/k-okada Could you explain why you think so? I don't
have such an impression at all now.

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