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New package for mobile manipulation planning

I’d like to announce a new package for mobile manipulation planning!

The simple algorithm calculates a robot base location so the end-effector (EE) can reach a desired pose. The method is computationally fast (since it depends on a MoveIt! Cartesian motion plan), simple (~300 lines), and easy to use (requiring just a service to provide the desired pose). There is a basic example included.

Below, the first image shows a mobile manipulator which is too far to grasp the object of interest. The desired EE pose is shown in green. The second image shows the freshly-calculated base position (red cube) which will allow the robot to reach that pose.