Dear All! I have the following setup: my node is subscribed to a camera and advertises a service on image processing, i.e. when a request comes, it grabs an image from the camera, processes it and puts something in the response message. The requests come from a node, which operates the robot and dependent on the response the robot will either stop the execution or do something else.

Now, i want the user to see, what image is processed and what the result is without stopping the whole processing. How can one do it? Thank you! (I m new to ROS, sorry for the naive question)