Add moveit simple controller for the base

stretch_moveit_config/config/moveit_simple_controllers.yaml

@@ -1,6 +1,7 @@
 controller_names:
   - stretch_arm_controller
   - gripper_controller
+  - stretch_base_controller
 
 stretch_arm_controller:
     action_ns: follow_joint_trajectory
@@ -20,4 +21,11 @@ gripper_controller:
     type: FollowJointTrajectory
     joints:
       - joint_gripper_finger_left
-      - joint_gripper_finger_right
+      - joint_gripper_finger_right
+
+stretch_base_controller:
+    action_ns: follow_joint_trajectory
+    default: True
+    type: FollowMultiDOFJointTrajectory
+    joints:
+      - position

stretch_moveit_config/config/stretch_description.srdf

@@ -56,6 +56,7 @@
 
     <virtual_joint name="position" type="planar" parent_frame="odom" child_link="base_link" />
     <joint_property joint_name="position" property_name="motion_model" value="diff_drive" />
+    <joint_property joint_name="position" property_name="min_translational_distance" value="0.01" />
 
 
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->