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  1. Open the Panels->Add new panel menu and select Navigation 2. The Navigation 2 panel is displayed in Rviz window.

  2. In the Displays view press Add, in the By Topic tab select /waypoints (Marker Array) to add Marker Array to the Displays view.

  3. On the Rviz menu toolbar press the + sign and select nav2_rviz-plugins. A new button, Nav2 Goal, appears on the toolbar.

  4. In the Navigation 2 panel press Startup Waypoint/Nav through Poses Mode.

  5. 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.

  6. Repeat step 5 to specify more way points.

  7. To make the robot follow way points starting from wp_1 press Start Waypoint Following in Navigation2.

  8. To remove the current way points in the Displays view clear the Marker Array checkbox.

  9. 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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