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Nevermind. I used this example from Steve: https://github.com/ros-planning/navigation2/issues/2283#issuecomment-853456150 (which seems to be an early draft of nav2_simple_commander). I only used the tiny part I needed to navigate to the initial pose. I presume that the simple commander was only implemented for galactic, so future users will be able to use it (it seems great!).

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