Added collision avoidance to MoveGlobal routine

mg_planner/src/mg_planner.cpp

@@ -5,7 +5,10 @@
 
 int main(int argc, char** argv) {
     rclcpp::init(argc, argv);
-    rclcpp::spin(std::make_shared<mg::PlannerNode>());
+    rclcpp::executors::MultiThreadedExecutor executor;
+    rclcpp::Node::SharedPtr                  node = std::make_shared<mg::PlannerNode>();
+    executor.add_node(node);
+    executor.spin();
 
     return 0;
 }