waypoint-follower

Name: waypoint-follower
Availability: InStock
Author: wimble

Navigate a robot through sequential poses using the Nav2 waypoint follower.

18|2|Updated Apr 20, 2026

Search Tags:#navigation #ros2 #robotics #waypoints #patrol #nav2

Ready to run

npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill waypoint-follower

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: waypoint-follower
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/waypoint-follower
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill waypoint-follower

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

The waypoint follower is a Nav2 action server that accepts a list of poses and navigates to each sequentially, enabling patrol routes, multi-room navigation, and inspection tasks.

Core Features & Use Cases

Sequential waypoint navigation: feed a list of poses and have the robot visit them in order, pausing or executing per-waypoint tasks as configured.
Per-waypoint task executors: plug-ins such as WaitAtWaypoint, PhotoAtWaypoint, and InputAtWaypoint can run when arriving at each waypoint.
Easy programmatic and BT integration: send waypoints from Python, and integrate with Behavior Trees or custom controllers for patrol patterns.
Robust configuration: tune loop_rate, stop_on_failure, action_server_result_timeout, and waypoint_task_executor_plugin for flexible patrol or inspection workflows.

Quick Start

Provide a list of PoseStamped waypoints and invoke the FollowWaypoints action to navigate them in order.

Frequently Asked Questions about waypoint-follower

High-intent search queries and answers about installing and using this skill.

FAQPage Schema

How do I navigate a robot through a sequence of waypoints for patrols in ROS 2?▼

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.

Can I execute custom tasks at each waypoint during multi-room navigation?▼

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.

How do I configure Nav2 waypoint follower to handle navigation failures?▼

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.

Do I need Nav2 FollowWaypoints support to run sequential robot patrols?▼

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.

What is the best way to integrate waypoint navigation with Behavior Trees for inspection tasks?▼

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.

What are the limitations of using Nav2 waypoint follower for patrol routes?▼

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.