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my autonomous navigation can work on my current map , but now i want to do a simple custom path planning together with some actions , such as ,

-taking a snapshot using the camera

-stopping

-turning the robot to the left and turning it back to the right to continue its path

i have done research and saw that a simple XML file can do the job , i tried some codes but i couldnt do it , can anyone help me , appreciate it. Can i do the actions with only a XML config file

im kinda new to ROS and dont have much time left to finish the project

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Maybe you can try to use moveit and integrate your robot with Moveit. It might make motion planning a lot easier for you.

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