ROS Noetic GPS waypoint navigation

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I think Navigation stack has packages that you can use in your case: http://wiki.ros.org/navigation

One option is create an array with all the waypoints, and then create a state machine to manage the data. For example, state 1: go to point 1, state 2: wait arrive in point 1, state 3: fix the variables to go to the next waypoint, step 4: go to point 2, and continue...

All of these steps need to be validated with the odometry to guarantee that the robot really moved to the right site