# Use both manupulator and base motion

**URL:** <https://forum.hello-robot.com/t/use-both-manupulator-and-base-motion/990>\
**Category:** Ask\
**Created:** [May 23, 2024, 11:44am UTC](https://forum.hello-robot.com/t/use-both-manupulator-and-base-motion/990 "2024-05-23T11:44:35Z")\
**Posts on this page:** 3\
**Page:** 1

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**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\
**Post date:** [May 23, 2024, 11:44am UTC](https://forum.hello-robot.com/t/use-both-manupulator-and-base-motion/990/1 "2024-05-23T11:44:35Z")

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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.

 ![image](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/ac9f5ba60dd7f18396bbb3259ef1f584ce62a32f.jpeg)

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**Author:** ![Yongbo](https://avatars.discourse-cdn.com/v4/letter/y/c0e974/32.png) [@Yongbo](https://forum.hello-robot.com/u/Yongbo)\
**Post date:** [May 24, 2024, 1:04am UTC](https://forum.hello-robot.com/t/use-both-manupulator-and-base-motion/990/2 "2024-05-24T01:04:08Z")

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

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [May 24, 2024, 10:48am UTC](https://forum.hello-robot.com/t/use-both-manupulator-and-base-motion/990/3 "2024-05-24T10:48:47Z")

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Glad to hear it @Yongbo!