update

source/Navigation/components/Navigator/Navigator.cpp

@@ -91,6 +91,7 @@ namespace armarx::nav::components
         updateContext();
 
         server::NavigationStack stack = fac::NavigationStackFactory::create(stackConfig, scene);
+        
         server::Navigator navigator{stack, scene, executor};
 
         navigator.moveTo(convert(waypoints), core::NavigationFramesMap.from_name(navigationMode));

source/Navigation/libraries/server/execution/PlatformUnitExecutor.h

 #pragma once
 
 // RobotAPI
+#include <atomic>
 #include <RobotAPI/interface/units/PlatformUnitInterface.h>
 
 // Navigation
@@ -21,10 +22,15 @@ namespace armarx::nav::server
 
         void move(const core::Twist &twist);
 
+        void disableAndStop();
+        void enable();
+
     private:
 
         PlatformUnitInterfacePrx platformUnit;
 
+        std::atomic_bool enabled{true};
+
     };
 
 }