How to extend available "2D navigation stack"
Hey Robot Enthusiasts,
I am currently working on a robot that is supposed to navigate a dynamic environment. So far I managed to build a robot model (with sensors like camera and LASERS) that I can spawn in Gazebo, use the already provided navigation stack to enable the robot to localize itself and to find a good path to a target position. So far so good.
Right now I have introduced a Visual Servoing controller which is suppose to take over the robot as soon as I can ensure a save control. So I still need the navigation stack to do its work in the beginning (to get me on the right track). Basically I am looking for a modular navigation in which I (or a supervising controller) can choose which sub-controller (my visual servoing controller, the ros navigation solution, further controllers) is used at any given time.
So what is my question: Is there a way to stop (and later reengage) the published <geometry_msgs::twist> from the ros navigation stack? I already tried "overwriting" this message with my own, but it did not work.
Thanks in advance Marcus
