Revision history [back]

I guess the best way is to write your own global planner plugin, which adheres to the respective interface there. However, this then does nothing when receiving the usual move_base goals.

Rather, you add whatever ROS concept you want (subscriber, service server, action server) to this global planner plugin for retrieving the path from wherever you want (publisher, service client, action client) and pass it down the chain.

Then, you can use the full move_base structure and can have deterministic global plans...