nav2_behavior_tree package to create a custom application-level behavior tree using navigation to complete the task. This can include subtrees like checking for the charge status mid-task for returning to dock or handling more than 1 unit of work in a more complex task. Soon, there will be a nav2_bt_waypoint_follower (name subject to adjustment) that will allow you to create this application more easily. In this school of thought, the waypoint following application is more closely tied to the system autonomy, or in many cases, is the system autonomy.
Neither is better than the other, it highly depends on the tasks your robot(s) are completing, in what type of environment, and with what cloud resources available. Often this distinction is very clear for a given business case.
nav2_waypoint_follower also supports GPS waypoint following when global localization is provided by robot_localization using the navsat_transform node - but also may be provided by Fuse or any number of other sources.
-There is an action server named /follow_gps_waypoints within nav2_waypoint_follower thah can directly take in goals expressed in GPS coordinates, convert them to cartesian goals in the global frame, and execute them as cartesian waypoints.
/follow_gps_waypoints within nav2_waypoint_follower that can directly take in goals expressed in GPS coordinates, convert them to cartesian goals in the global frame, and execute them as cartesian waypoints.