Publish generated path to use for visualisation

mg_planner/include/mg_planner/mg_planner_node.hpp

@@ -12,6 +12,7 @@
 #include "tf2_ros/buffer.h"
 #include "tf2_ros/transform_listener.h"
 
+#include "mg_msgs/msg/path.hpp"
 #include "mg_msgs/srv/calc_path.hpp"
 
 #define TREE_SIZE 9
@@ -30,6 +31,7 @@ namespace mg {
 
       private:
         rclcpp::Service<mg_msgs::srv::CalcPath>::SharedPtr astar_service;
+        rclcpp::Publisher<mg_msgs::msg::Path>::SharedPtr   path_pub_;
 
         AStar           astar_;
         ObstacleManager obstacle_manager_;