Hi everyone,

I'm new to ROS 2 and would like to validate my design idea for a project I'm working on.

Here's what I'm trying to achieve:

I have a path planning node and an obstacle avoidance node, both of which will run simultaneously.
The obstacle avoidance node listens to a topic published by a multi-ranger sensor, constantly monitoring the environment in the background.
If the obstacle avoidance node detects that an obstacle is too close (below a certain threshold), it will publish commands to move the drone away from the obstacle until it is at a safe distance.
Once the obstacle is cleared, the drone should return to its planned path and follow the commands from the path planning node.
To ensure that obstacle avoidance commands override path planning commands when necessary, I'm considering using a multiplexer. The idea is to use the multiplexer to prioritize obstacle avoidance commands over path planning commands while allowing the drone to return to its path when no obstacles are detected.

I have a few questions:

Is a multiplexer the right tool for this purpose?
Are there better tools, techniques, or existing packages in ROS 2 that could achieve this functionality more effectively?

Thank you in advance for your advice and insights!