Is it possible to give move_base a pose array as a series of goals?

asked 2021-03-02 10:09:41 -0500

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updated 2021-03-08 11:19:00 -0500

I have a node that provides waypoints as a pose array. Is it possible to pass this array these to move_base to execute as a series of goals or would I have to write some code to deconstruct it into individual poses and then publish them on the move_base_simple/goal topic one by one as each one is achieved? The code I have so far is given in the question here, although, as described, I'm having some trouble with it.

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