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The list of software that can run waypoint following using the waypoints from "waypoint saver":

waypoint_loader
lane_rule
lane_stop
lane_select
astar_avoid (can run as pass through with no obstacle avoidance)
velocity_set
twist_filter
pure_pursuit
vehicle interface software (I had a custom from that received the vehicle_cmd message)

These should work as long as the localization is configured correctly.

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