Revision history [back]

Track the Nav To Pose client in the Waypoint Follower as the practical demo of how to work with it https://github.com/ros-planning/navigation2/blob/main/nav2_waypoint_follower/src/waypoint_follower.cpp#L67. The rviz2 plugin also uses the client as another example. Overall, its the typical Action API but I understand it can be a little daunting for new users, its one of the main reasons I implemented the Waypoint Follower the way I did to be a clear demo.