[ros-users] Multiple waypoints in move_base

[zdydek]

Hi All,

I'm looking to have a functionality where I can send a list of waypoints and
have move_base execute them sequentially.

>From what I understand, the SimpleActionServer that handles goals like
move_base destinations is designed to have exactly 1 active goal, and new
goals preempt the execution of the active goal. I couldn't seem to find a
"MultiActionServer" anywhere (although I found one lead in mech_turk_ros, it
didn't seem to lead anywhere...).

I have some ideas of how I could implement this, but since it seems like a
pretty basic feature, I first wanted to see if any of you have done this
before.

Thanks!

-Zac
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