Hi there!

I wanted to know what mechanisms you use to switch from one behaviour to 
another. For instance, an autonomous robot may want to stop the 
exploration behaviour(a node that sends goals to move_base) when certain 
conditions are met,  like some feature detected in the environment. 
Later on, we might want to continue running the exploration.

Essentially I want to decide which node runs at each moment. What are 
the options for implementing such behaviour-switching abilities?

Thank you,

Roderick de Nijs

-- 
Dipl-Ing Roderick de Nijs | rsdenijs@tum.de
Institute of Automatic Control Engineering (LSR)
Technische Universitaet Muenchen, D-80290 Munich, Germany
tel: +49(89)289-23416 | http://www.lsr.ei.tum.de