This question has been asked at the moveit-users mailinglist by Troy Cordie:
I know this is a bit of an odd question considering most users are planning for armed platforms.
I have a mobile base running in moveit and want to plan using a map in a similar fashion to move base. Is it possible to use the ros map server with moveit?
or has anyone tried something similar? i.e. generate an environment for testing?
Originally posted by v4hn on ROS Answers with karma: 2950 on 2017-10-09
Post score: 0
Not directly.
MoveIt always works with 3D information.
The most straight-forward solution would be to generate an octomap from your 2d-map by projecting all occupied pixels to cuboids of some fixed height and use this octomap to plan. You could implement a specialized Octomap updater to do that.
Originally posted by v4hn with karma: 2950 on 2017-10-09
This answer was ACCEPTED on the original site
Post score: 0
Comment by tonka46 on 2017-10-15:
Cheers I ended up importing the bitmap into solid works and extruding it to give it depth then saving as an stl to import into moveit.