An interruptible version of nav stack?
This question is related to my earlier one on the nav stack.
Suppose I'm sending move_base a goal; I want to be able to interrupt move_base during its plan execution. Afaik, the current nav stack doesn't allow this.
Is it better to design an "interruptible" nav stack, or are there other alternatives?
As an example of alternative: I could get a global plan from the ~make_plan , and directly use cmd_vel to navigate between waypoints. These commands can be turned off when an interrupt flag is set.
Do you just want to interrupt the nav stack (i.e. get it to pause) or would stopping the action and then restarting it work?
Stopping the action for good, and restarting it later if needed, is OK