navigation stack vs my node
Hallo!
Is it possible to subscribe to user node from base_local_planner?
I'm trying to experiment with obstacle avoidance perfomance of my robot by integrating my emergency stop node that set a flag if an obstacle appears in it's field of view (narrow segment). Then given that flag I want to throw a banch of trajectories (which lie in this segment), generated by createTrajectories() function in base_local_planner package. I wonder if it's possible somehow to subscribe to this node so base-local_planner could use this flag.
What do you mean? Which data do you want to subscribe to or what functionality do you want to provide by your own node? Please be more specific.
Sure. I'm trying to experiment with obstacle avoidance perfomance of my robot by integrating my emergency stop node that set a flag if an obstacle appears in it's field of view (narrow segment). Then given that flag I want to throw a banch of trajectories, generated by createTrajectories() function
... in base_local_planner package (which lie in this segment). I wonder if it's possible somehow to subscribe to this node so base-local_planner could use this flag.
For such an update to the question, it's best to edit your original post.