Publish generated path to use for visualisation

mg_navigation/include/handlers/dwa_core.hpp

@@ -109,6 +109,7 @@ namespace mg {
         rclcpp::Rate rate(UPDATE_RATE);
 
         while (target_check() && rclcpp::ok()) {
+            target_update();
             if (hgoal->is_canceling()) {
                 cancel();
                 return;

mg_navigation/include/handlers/dwa_global.hpp

@@ -22,7 +22,7 @@ namespace mg {
 
     template <>
     inline void DWA<MgNavigationServer::MoveGlobal>::target_update() {
-        baseNode.path_buffer()->update_path(goal);
+        baseNode.path_buffer()->update_path();
         target_pos = baseNode.path_buffer()->get_next(pos, LOOKAHEAD);
     }
 

mg_navigation/src/path_buffer.cpp

@@ -47,6 +47,7 @@ namespace mg {
             resp_    = client_->async_send_request(req).share();
         }
         if (resp_.valid()) {
+
             path_msg_ = resp_.get();
             auto req  = std::make_shared<PathService::Request>();
             req->x    = goal_->x;
@@ -68,6 +69,7 @@ namespace mg {
             resp_    = client_->async_send_request(req).share();
         }
 
+        resp_.wait();
         path_msg_ = resp_.get();
         auto req  = std::make_shared<PathService::Request>();
         req->x    = goal_->x;