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i've found the solution.

i must implement my own planner . For Example , i use Simple Navigation Goal (From Tutorial) and Mark a lot of points in a list manually (you may need to find the x,y,4 values of quaternian - memmorized it) .

Then Make the robot check the location compared to the Points In List (Waypoints) , which one is the nearest depends on the algorithm you 've chosen .

Choose the list (depends on the goal you want to go) and execute the navigation on those points.

The Short Answer is You need to implement it by yourself with help of navigation goal.