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 Sent from the ROS-Users mailing list archive at Nabble.com.