How to create waypoints for nav2 based on saved .pgm map?

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Did you try (Python Simple Commander)[https://navigation.ros.org... and it's goThroughPoses() or followWaypoints()? It's nice and easy Python API to Nav2 stack, it seems suitable to your needs.

You can try to calculate your waypoints based on your init_pose (you should know real-world coordinates and coordinates on the PGM map), chosen points on the map (pixels (x,y)) and a resolution of your map (it's meter/pixel, defined in *.YAML) with correct set of translations.

There are some sources I have found, both ROS1 and ROS2, maybe they will help you:

• https://husarion.com/tutorials/ros-tu... (ROS1, navigation based on map)
• https://github.com/ros-planning/navig... (ROS2, a few demonstrations to highlight a couple of simple autonomy applications)
• https://automaticaddison.com/the-ulti... (overall step by step guide to Nav2)
• https://osrf.github.io/ros2multirobot... (traffic-editor from OpenRMF could be an example of how to export map points as a robot path)