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Add checkpoints on the way to the goal

How to set a checkpoint on the way to goal step by step

  1. Set goal pose as in Set a single goal.

  2. Click on the 2D Checkpoint Pose button.

  3. Click and drag on the map to set the checkpoint the same as with the goal pose. Observe the planned path change.

Effect

Now the ego vehicle will first reach the checkpoint and then proceed to reaching the goal.