At some point while working for Ross Robotics I was tasked with coming up with a solution for navigating the robot along predescribed waypoints. The idea was that someone using RR robots coudl define a path for them to follow many times. While, move_base provides a nice pose-to-pose functionality, such waypoint following was not supported by default at this time.

Looking around online I’ve foind the follow waypoints repository. However it had a few major shortcomings. There was no easy way to edit, save and loard the paths. And so, I’ve made my own interactive waypoints package that actually alows the user to play with the waypoints prior to exectution. Using interactive markers, the waypoints can be moved around, their order can be changed and a move_base command send out just from a rick-click menu.