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Hi, short answer: yes. move_base_flex is what u need (or navigation2 if u are using ROS2). I also use SMACH to call MBF actions; see here some states I use. U may need to add a GetPath and Recovery states to call these other MBF actions, but it will be trivial (or I can add them, if you are not sure how to)

Hi, short answer: yes. move_base_flex is what u need (or navigation2 if u are using ROS2). I also use SMACH to call MBF actions; see here some states I use. My states are very thin wrappers for smach_ros.SimpleActionState class, e.g. this is my wrapper for MoveBase action. U may need to add a GetPath and Recovery states to call these other MBF actions, but it will be trivial (or I can add them, if you are not sure how to)to). Or you can include smach_ros.SimpleActionState and provide the action details directly, if you don't need any extra functionality.