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Have a look at the parsec repository at http://parsec.googlecode.com. Have a look at the nodes interactive_waypoint_markers and navigation_waypoints_server. In the repository, you can also find example launch files, e.g. here.
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Have a look at the parsec repository at http://parsec.googlecode.com. Have a look at In particular the nodes packages interactive_waypoint_markers and navigation_waypoints_server. should be interesting for you. In the repository, you can also find example launch files, e.g. here.
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