Hi Zac,

I think we have a node that does pretty much what you're looking for,

http://www.ros.org/wiki/fctuc_open_day

You can take out the parts you don't need and keep just the move_base action related stuff. The pose_reader node is reading a file of waypoints and publishing them on a topic. The demo node is reading waypoints from that topic and feeding them to the robot.

Hope it helps,

Gonçalo Cabrita
ISR - University of Coimbra
Portugal

On Dec 4, 2010, at 3:46 AM, zdydek wrote:

> 
> Eitan and Eric--
> 
> Thanks for your help. I will try out the simple_goal_planner next week, but
> this looks like it does exactly what I need.
> 
> Best,
> 
> -Zac
> -- 
> View this message in context: http://ros-users.122217.n3.nabble.com/Multiple-waypoints-in-move-base-tp2015734p2016322.html
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