@@ -66,7 +66,7 @@ You can use `ros2 topic` to publish the text command.
## Decision Node
This node should listen to the topic `goals_requests` and generate TSTs that are then send as a service call to your `tst_executor` like you did in [Lab4](lab4).
This node should listen to the topic `goals_requests` and generate TSTs that are then send as a service call to your `tst_executor` like you did in [Lab4](lab4). And you should query the database for destination, using the `tags`. You should look at the data that was inserted in the database, and you should extend the queries of `Lab4` to include this tag.
