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In the Rviz window use the 2D Goal Pose toolbar button and then click to the location you want the robot to move to.
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The robot moves to the assigned point.
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Open the Panels->Add new panel menu and select Navigation 2. The Navigation 2 panel is displayed in Rviz window.
In the Displays view press Add, in the By Topic tab select /waypoints (Marker Array) to add Marker Array to the Displays view.
On the Rviz menu toolbar press the + sign and select nav2_riz-plugins. A new button, Nav2 Goal, appears on the toolbar.
In the Navigation 2 panel press Startup Waypoint/Nav through Poses Mode.
Press Nav2 Goal on the toolbar and click on the map in Rviz window to specify a way point. wp_1 appears on the map.
Repeat step 5 to specify more way points.
To make the robot follow way points starting from wp_1 press Start Waypoint Following in Navigation2.Press Cancel in Navigation 2 once the robot reaches the last way point.
To remove the current way points in the Displays view clear the Marker Array checkbox.
To set up a new root for the robot using waypoints feature, check the Marker Array checkbox and start from Step 4.
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