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I want to know which is the best and most secure way to solve the issue, [..]

the best would be to not use ROS 1 for this.

You write "e-stop", which is a safety rated device with associated functionality. That's not what ROS 1 (nor ros_control) was designed for.

or any other solution

if you have a real AGV (ie: something commercially available and supported), it should come with a built-in safety system. Rely on that. See if you can provide it with additional input (from your ROS application perhaps), but configure it such that it can always guarantee the safety of your combined system.