(move_base): Preempting goals

[jws-1]

Hi,

I am in a situation where I want to send one goal to move_base, and pre-empt this goal with another. The new goal is, likely, along the same/similar trajectory as the previous one. When I pre-empt the original goal, the robot stops for 1-2 seconds before beginning executing the same goal, making navigation look quite unnatural. I was wondering if there is a way to either a) prevent the robot from stopping completely before executing the new goal or b) update the current Path that is being followed?