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Clean up for Nav2 #5

@girvenavery2022

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@girvenavery2022

To be able to contribute this beautiful package to Nav2, some things need to be done

  • Nav2 life cycle manager
  • add parameter file
  • Waypoint loop with count option
  • Allow users to initiate waypoint following through rviz plugin
  • Allow users to load and store waypoints through the rviz plugin instead of csv file
  • Update Documentation

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