Added collision avoidance to MoveGlobal routine

mg_navigation/src/mg_navigation.cpp

@@ -5,7 +5,6 @@
 #include "rclcpp/rclcpp.hpp"
 #include "mg_navigation.hpp"
 #include "handlers/dwa.hpp"
-
 namespace mg {
 
     template <typename T>
@@ -54,6 +53,8 @@ namespace mg {
 
         pub_twist = create_publisher<Geometry::TwistStamped>("diffdrive_controller/cmd_vel", 2);
 
+        obstacle_manager_ = std::make_shared<ObstacleManager>(this, tf2_buffer);
+
         using namespace std::placeholders;
 
         sv_move_global = rclcpp_action::create_server<MoveGlobal>(