Added behavior that publishes tactic id

mg_obstacles/include/mg_obstacles/mg_obstacles.hpp

@@ -6,6 +6,7 @@
 #include "mg_obstacles/static_obstacle.hpp"
 
 #include "std_msgs/msg/u_int64.hpp"
+#include "std_msgs/msg/string.hpp"
 #include "geometry_msgs/msg/point_stamped.hpp"
 
 #include "tf2_ros/buffer.h"
@@ -51,9 +52,13 @@ namespace mg {
 
         rclcpp::CallbackGroup::SharedPtr no_exec_cbg;
 
+        rclcpp::Subscription<std_msgs::msg::String>::SharedPtr side_sub_;
+
         rclcpp::Subscription<StaticListMsg>::SharedPtr static_obst_sub_;
         rclcpp::Subscription<DynamicPosMsg>::SharedPtr dynamic_obst_sub_;
 
+        std::string base_path;
+
         void load_permanent(Json::Value& json);
         void load_static(Json::Value& json);
     };