Hi, Guys. I met a question when I use ros-navigation stack. Well, here is the thing.

I use the default global planner, like <param name="base_global_planner" value="global_planner/GlobalPlanner" /> in the launch file. And I found: If i add a dynamic obstacle in the gazebo,which the obstacle in the path,(made by global planner) and which the original global map dose not the obstacle. the car can avoid it, and make a new plan.

But, when I exchanged my own globalplanner, and of course, it working. but not "dynamic" as the default globalplanner.well, If I acted like above, then my own global planner dose not change.But the default will.

So, is the problem comes from my own algorithm or I miss some detail in the global planner plugin.

And if it's ok, can show the code about default global planner about it's "dynamic" ? (I read the code before, but still don't know how, maybe I missed some important part)