update

examples/NavigationExample/NavigationAPI.cs

@@ -140,6 +140,10 @@ namespace NavigationExample
         [return: MarshalAs(UnmanagedType.I1)]
         public static extern bool navigation_move_to_order(NavigationHandle handle, Order order, PoseStamped goal);
 
+        [DllImport(DllName, CallingConvention = CallingConvention.Cdecl)]
+        [return: MarshalAs(UnmanagedType.I1)]
+        public static extern bool navigation_move_to_nodes_edges(NavigationHandle handle, IntPtr nodes, UIntPtr node_count, IntPtr edges, UIntPtr edge_count, PoseStamped goal);
+
         [DllImport(DllName, CallingConvention = CallingConvention.Cdecl, CharSet = CharSet.Ansi)]
         [return: MarshalAs(UnmanagedType.I1)]
         public static extern bool navigation_dock_to(NavigationHandle handle, string marker, PoseStamped goal);

examples/NavigationExample/Program.cs

@@ -405,8 +405,10 @@ namespace NavigationExample
             goal.pose.orientation.w = 1.0;
 
 
-            Console.WriteLine("Docking to docking_point");
-            NavigationAPI.navigation_dock_to_order(navHandle, order, "charger", goal);
+            // Console.WriteLine("Docking to docking_point");
+            // NavigationAPI.navigation_dock_to_order(navHandle, order, "charger", goal);
+
+            NavigationAPI.navigation_move_to_nodes_edges(navHandle, order.nodes, order.nodes_count, order.edges, order.edges_count, goal);
 
             // NavigationAPI.navigation_move_to_order(navHandle, order, goal);
             NavigationAPI.navigation_set_twist_linear(navHandle, 0.1, 0.0, 0.0);
@@ -493,4 +495,3 @@ namespace NavigationExample
         }
     }
 }
-