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Nav2 offers a full solution to this problem, including executor plugins to be triggered at each waypoint to complete some use-case specific task https://github.com/ros-planning/navigation2/tree/main/nav2_waypoint_follower documentation https://navigation.ros.org/configuration/packages/configuring-waypoint-follower.html.

I even provide you a simple Python3 API for using it in the new nav2_simple_commander package, along with other connection points to Nav2 internally to create a basic Python-based autonomy system.

https://github.com/ros-planning/navigation2/tree/main/nav2_simple_commander

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