nav2-simple-commander

Create a BasicNavigator instance, call waitUntilNav2Active, then pass a PoseStamped in the map frame to goToPose. Poll isTaskComplete in a loop and call getResult to check whether the task succeeded, failed, or was canceled.

goThroughPoses passes through intermediate poses without stopping, producing smoother corridor traversal. followWaypoints stops at each waypoint and supports executing a task at each stop, making it better for inspection or patrol routines.

Call cancelTask on the BasicNavigator instance to cancel the current goal. After cancellation, getResult returns TaskResult.CANCELED, which you can detect in your completion loop.

Goals sent before Nav2 lifecycle nodes are active will fail. Always call waitUntilNav2Active before sending goals, and if using AMCL, set the initial pose with setInitialPose and wait for localization to converge.

Yes, use getPath with start and goal poses to compute a nav_msgs Path without moving the robot. You can also smooth the result with smoothPath or compute multi-pose routes with getPathThroughPoses.