This is simply a ROS package that uses a ROS Action server to manage sending multiple goals to the navigation stack action server on a robot in order to achieve them one after another. The package handles everything regarding the goals: receiving, storing, sending, error handling… etc.
The package was made as a part of my graduation project, which will be itself published very soon as well along with other parts of it that can be standalone projects, just like this one. It is very useful when you need to make your platform navigate through some checkpoints, which were determined by a user or another piece of software, autonomously. Such applications may include:
- Security robots that continuously scan specific areas.
- Quality assurance robots that regularly check on products.
- Fruit picking robots.
In the repo or the ros wiki page, you can find an example of the package running on the turtlebot3.
I hope to see this package helping others in their projects. Please use it, report any issues in it, and contribute to it if you can.