How can I publish a global path exactly once?
I am using move_base package from navigation stack in ROS. For the parameters, I have selected o use grid_path due to my robot's motion limitations. Everything works as expected but now, whenever I send a goal (2d nav goal on rviz), move_base constructs a full path from the beginning till the goal point and the topic is called /move_base/GlobalPlanner/plan
. The problem is that the topic continuously spams with the same path message until robot gets to the destination. How can I make to publish a single message to the topic and not spam?
try using a service