waypoint_follower

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waypoint_follower Quick Facts

Category

🧭 Navigation

Debian package

nav2_waypoint_follower-None

License

Apache-2.0

Source code

https://github.com/ros-navigation/navigation2/tree/main/nav2_waypoint_follower

This node will take in a set of ordered waypoints to follow and then try to navigate to them in order. It also hosts a waypoint task executor plugin which can be used to perform custom behavior at a waypoint like waiting for user instruction, taking a picture, or picking up a box.

This node provides the /follow_waypoints

To configure this node, please refer to the Nav2 Waypoint Follower Configuration guide.

For more information about this node and its usage, check Nav2 Waypoint Follower documentation and the nav2_waypoint_follower package.

Node management

How to check the status of the node?

# this  a copy-pastable snippet to check the status

# this  a copy-pastable snippet using rosnode/rostopic to check the node is working

How to access the node’s logs?

# this  a copy-pastable snippet

How to start/stop/restart the node

# this  a copy-pastable snippet

Using in your code/application

Access via the robot’s GUI

[insert screenshots here]

Access via ROS standard tools

# this  a copy-pastable snippet

[insert screenshots here]

Using in Python

# this  a copy-pastable snippet

Using in C++

# this  a copy-pastable snippet

Reference

Subscribed topics

Published topics

Actions server

Actions client

Services