If move_base and semantic segmentation based decision for cmd_vel is running on parallel on two nodes then how to override the cmd_vel value from semantic seg node

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I need to avoid a glass or go through a door or climb a stair at the time move_base is running for its autonomous exploration task . which is publishing a planner based cmd_vel topic to search a new frontier but at the same time my semantic segmentation node found a door or a downside which i have to avoid so i have to cancle the move_base goal . and follow the cmd_vel topic coming form segmentation node or vice -versa . after listening to segmentation topic the cmd_vel again i want to switch to move_base .

please suggest me some option to do so .