Enable/disable obstacle avoidance during operation

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Hi All,

Is there an easy way to enable and disable obstacle avoidance when the robot is in operation? I would like to do this without editing config files and restarting ROS. Restarting ROS would be acceptable if necessary (i.e. rebooting the computer).

For some background, I use LiDAR for obstacle detection and I want to be able to enable / disable obstacle avoidance when the robot moves to a different terrain. For example when the robot is surrounded with vegetation (grass) the LiDAR will see obstacles everywhere making navigation impossible even if the robot could move. On a clear area obstacle avoidance could be turned back on.

What would be an elegant way to achieve this? Thank you!