Mavros/mavlink from onboard override guide mode flight

Hi all, onboard computer installed ROS is set for my quad. Firstly, quad executes the flight mission defined by mission planner in guide mode through RF. I want to use ROS command to override the mission planner flight mission when obstacle exist in flight, maybe the use mavlink to override quad to position control. Or using mavros/ setpoint override quad to avoid obstacle. Could you give me some suggestions or some example in that cases. Thanks so much.

using upstart.

Hi, Did you figure it out?