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navigation stack vs my node

Hallo!

Is it possible to subscribe to user node from base_local_planner?

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.