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Just developing a bit previous answer. If you check ExePath action, the only field you need to fill is:

nav_msgs/Path path

That is, set path.header.frame_id to your poses reference frame and path.poses with a list of geometry_msgs/PoseStamped messages. You can generate the paths with whatever mathematic function you want, just calculating x, y and yaw. Pose can be separated by nearly every distance; DWA local planner is not picky about following sparse paths. I use something in the 10cm order.

Just developing a bit previous answer. If you check ExePath action, the only field you need to fill is:

nav_msgs/Path path

That is, set path.header.frame_id to your poses reference frame and path.poses with a list of geometry_msgs/PoseStamped messages. You can generate the paths with whatever mathematic function you want, just calculating x, y and yaw. Pose can be separated by nearly every distance; DWA local planner is not picky about following sparse paths. I use something in the 10cm order.

UPDATE

This script mentioned by @aarontan looks like a good starting point: changing it to call /move_base_flex/exe_path action server with the generated path should be trivial.