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Well you could use a service, that way it behaves in a request/response kind of way.
Check this service nav_msgs/GetPlan
from here http://docs.ros.org/api/nav_msgs/html/srv/GetPlan.html
You'll send:
geometry_msgs/PoseStamped start
geometry_msgs/PoseStamped goal
float32 tolerance
and you'll get a:
nav_msgs/Path plan
If you need to learn more about services the wiki is your friend http://wiki.ros.org/Services
Good luck!