Use both manupulator and base motion

I am now working on the SE3. I can control the manipulator using the action server /stretch_controller/fellow_joint_trajectory base on the stretch_driver in position and trajectory mode. But the base can not move with a given pose using navigation_bringup_launch. Any way to run the deriver using both the arm and base.

I found three services to switch the mode. Now it is not a problem for me. Thanks.

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Glad to hear it @Yongbo!