Some time ago I worked with ROS and the turtlebot 2 platform doing mappings and using the default demo navigation. I would now like to try different navigation planning algorithms using MoveIt or OMPL but I really have no idea how to do it. I have worked with MoveIt with an articulated arm (the BCN moveo), I think I can use my turtlebot 2 with MoveIt but I am not sure. Does anyone know any project that has been done with the turtlebot 2 and MoveIt?

What I want to test is to see which motion planning algorithm is the fastest or most efficient for the turtlebot as a comparison. Any answer to guide me and clear my doubts is well received, since I am somewhat novice in this subject and I don't know very well how to advance.