navigation2 NavigateWithReplanning
In navigation2, is it possible to have something similar to NavigateWithReplanning, but having the vehicle stopped (halted) during the replanning action?
I'd like the vehicle to collect some data while stopped, computePathToPose and then FollowPath, but after the DistanceController is 'trigged' again, it would 'stop' the vehicle (maybe by calling halt on FollowPath?) and repeat until it reaches the goal.
https://raw.githubusercontent.com/ros...
Thanks