waypoint-follower

To navigate sequential waypoints for patrols in ROS 2, send a list of PoseStamped poses to the Nav2 FollowWaypoints action server. The robot visits each pose in order, pausing or executing per-waypoint tasks as configured by your waypoint task executor plugin.

Yes, you can execute custom tasks at each waypoint during multi-room navigation by configuring waypoint task executor plug-ins. Available options include WaitAtWaypoint, PhotoAtWaypoint, and InputAtWaypoint, which run automatically upon robot arrival at each sequential pose.

To handle navigation failures in the Nav2 waypoint follower, configure the stop_on_failure parameter. Setting this parameter determines whether the robot halts the entire patrol sequence upon missing a pose or continues attempting the remaining waypoints in the list.

Yes, sequential robot patrols require Nav2 FollowWaypoints support within ROS 2, alongside Python or C++ bindings for waypoint input. These dependencies provide the underlying action server and programmatic interfaces needed to transmit and process the ordered list of poses.

The best way to integrate waypoint navigation with Behavior Trees for inspection tasks is to invoke the FollowWaypoints action from your BT nodes. This allows you to combine sequential pose visits with custom controllers and patrol patterns for complex inspection workflows.

Limitations of using Nav2 waypoint follower for patrol routes include strict sequential pose execution and dependency on the action_server_result_timeout. If stop_on_failure is enabled, a single unreachable pose will abort the entire remaining inspection route.