Using Navigation Stack together with Moveit
### Description
Overview of your issue here.
Your environment
- ROS Distro: [Melodic|
- OS Version: e.g. Ubuntu 18.04
- Robots: Clearpath Jackal mobile platform + OpenMANIPULATOR-P (RM-P60-RNH)
Steps to reproduce
I create a combined URDF model for both robot, where Arm placed on the Jackal mobile platform. After that used Moveit Asistant setup, and created a combined moveit_config file for URDF model
Expected behavior
By launching both move_group.launch (from moveit) and move_base.launch (from navigation stack) I expected to drive with jackal to the destination point and after that use moveit to pick a certain object.
Actual behavior
The robot platform does not move after setting a 2D Nav Goal position from Rviz, however, I can still move the robot arm within moveit rviz window.
I launched a move_base.launch file without moveit, even then the navigation stack did not work. If I remove the arm from the jackal platform (in URDF), the jackal can move again.
I assume that the problem is related to the controller of both robots. But I am not sure if both frameworks can be used together on the single robot (mobile platform with robot arm)
Question
Is it possible to use both frameworks together? or How can I control both the mobile platforms and arm robots with Rviz? for a future task in gazebo environment?
