Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

It's unclear what you think the problem is. In some cases it may be inefficient, but it's not wrong for a node to be both a publisher and a subscriber. Since you didn't give us any idea what mbf_costmap_nav is, it's difficult to say much else about it.

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.