I have differential robot, my purpose is to make robot move in every 50 cm and it is reached 50cm distance it has to stop a while (almost 2 sec) then it continues to move on 50 cm then stop again but when I serached about it I couldn't find appropriate solution for it (except writing my own path planning algorithm) btw I know follow_waypoints package but it causes extremely much CPU load that's why I don't want to use it, is there any idea how to achieve to my aim, or package to implement, I don't want to reinvent the wheel. Have a nice day!