diff --git a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
index fe0f0aacc75..698d7b479d8 100644
--- a/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
+++ b/nav2_behavior_tree/include/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.hpp
@@ -16,6 +16,7 @@
 #define NAV2_BEHAVIOR_TREE__PLUGINS__ACTION__COMPUTE_PATH_TO_POSE_ACTION_HPP_
 
 #include <string>
+#include <vector>
 
 #include "nav2_msgs/action/compute_path_to_pose.hpp"
 #include "nav_msgs/msg/path.hpp"
@@ -94,6 +95,9 @@ class ComputePathToPoseAction : public BtActionNode<nav2_msgs::action::ComputePa
           "start",
           "Used as the planner start pose instead of the current robot pose, if use_start is"
           " not false (i.e. not provided or set to true)"),
+        BT::InputPort<std::vector<geometry_msgs::msg::PoseStamped>>(
+          "viapoints",
+          "A list of intermediate viapoints (excluding goal) to consider for planning"),
         BT::InputPort<bool>(
           "use_start", "For using or not using (i.e. ignoring) the provided start pose"),
         BT::InputPort<std::string>(
diff --git a/nav2_behavior_tree/nav2_tree_nodes.xml b/nav2_behavior_tree/nav2_tree_nodes.xml
index 40d8c10b54b..a26a64e34c7 100644
--- a/nav2_behavior_tree/nav2_tree_nodes.xml
+++ b/nav2_behavior_tree/nav2_tree_nodes.xml
@@ -96,6 +96,7 @@
     <Action ID="ComputePathToPose">
       <input_port name="goal">Destination to plan to</input_port>
       <input_port name="start">Use as the planner start pose instead of the current robot pose, if use_start is not false (i.e. not provided or set to true)</input_port>
+      <input_port name="viapoints">A vector of intermediate viapoints (excluding goal) to consider for planning</input_port>
       <input_port name="use_start">For using or not using (i.e. ignoring) the provided start pose</input_port>
       <input_port name="planner_id">Mapped name to the planner plugin type to use</input_port>
       <input_port name="server_name">Server name</input_port>
diff --git a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
index 3ff618a007b..dcd2fa2c587 100644
--- a/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
+++ b/nav2_behavior_tree/plugins/action/compute_path_to_pose_action.cpp
@@ -33,6 +33,11 @@ void ComputePathToPoseAction::on_tick()
   getInput("goal", goal_.goal);
   getInput("planner_id", goal_.planner_id);
 
+  // use waypoints if available
+  if (!getInput("viapoints", goal_.viapoints)) {
+    goal_.viapoints = std::vector<geometry_msgs::msg::PoseStamped>();
+  }
+
   // if "use_start" is provided try to enforce it (true or false), but we cannot enforce true if
   // start is not provided
   goal_.use_start = false;
diff --git a/nav2_core/include/nav2_core/global_planner.hpp b/nav2_core/include/nav2_core/global_planner.hpp
index fa63d2e519e..1af70e3efe7 100644
--- a/nav2_core/include/nav2_core/global_planner.hpp
+++ b/nav2_core/include/nav2_core/global_planner.hpp
@@ -17,6 +17,7 @@
 
 #include <memory>
 #include <string>
+#include <vector>
 #include "nav2_costmap_2d/costmap_2d_ros.hpp"
 #include "tf2_ros/buffer.hpp"
 #include "nav_msgs/msg/path.hpp"
@@ -67,15 +68,17 @@ class GlobalPlanner
   virtual void deactivate() = 0;
 
   /**
-   * @brief Method create the plan from a starting and ending goal.
+   * @brief Method to create the plan from a starting pose, a goal pose, and intermediate viapoints.
    * @param start The starting pose of the robot
    * @param goal  The goal pose of the robot
+   * @param viapoints The intermediate viapoints for the robot
    * @param cancel_checker Function to check if the action has been canceled
    * @return      The sequence of poses to get from start to goal, if any
    */
   virtual nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
     const geometry_msgs::msg::PoseStamped & goal,
+    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
     std::function<bool()> cancel_checker) = 0;
 };
 
diff --git a/nav2_msgs/action/ComputePathToPose.action b/nav2_msgs/action/ComputePathToPose.action
index 572a9b5b5a5..ff3e02aeffe 100644
--- a/nav2_msgs/action/ComputePathToPose.action
+++ b/nav2_msgs/action/ComputePathToPose.action
@@ -1,6 +1,7 @@
 #goal definition
 geometry_msgs/PoseStamped goal
 geometry_msgs/PoseStamped start
+geometry_msgs/PoseStamped[] viapoints
 string planner_id
 bool use_start # If false, use current robot pose as path start, if true, use start above instead
 ---
diff --git a/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp b/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
index 873076b01ba..ca1f361f46a 100644
--- a/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
+++ b/nav2_navfn_planner/include/nav2_navfn_planner/navfn_planner.hpp
@@ -88,6 +88,7 @@ class NavfnPlanner : public nav2_core::GlobalPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
     const geometry_msgs::msg::PoseStamped & goal,
+    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
     std::function<bool()> cancel_checker) override;
 
 protected:
diff --git a/nav2_navfn_planner/src/navfn_planner.cpp b/nav2_navfn_planner/src/navfn_planner.cpp
index ddbaeb3537c..1d82cc0f1c5 100644
--- a/nav2_navfn_planner/src/navfn_planner.cpp
+++ b/nav2_navfn_planner/src/navfn_planner.cpp
@@ -120,11 +120,18 @@ NavfnPlanner::cleanup()
 nav_msgs::msg::Path NavfnPlanner::createPlan(
   const geometry_msgs::msg::PoseStamped & start,
   const geometry_msgs::msg::PoseStamped & goal,
+  const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
   std::function<bool()> cancel_checker)
 {
 #ifdef BENCHMARK_TESTING
   steady_clock::time_point a = steady_clock::now();
 #endif
+
+  if (!viapoints.empty()) {
+    RCLCPP_WARN(logger_, "Received %zu viapoints, but this planner ignores them",
+      viapoints.size());
+  }
+
   std::lock_guard<std::mutex> lock_reinit(param_handler_->getMutex());
   unsigned int mx_start, my_start, mx_goal, my_goal;
   if (!costmap_->worldToMap(start.pose.position.x, start.pose.position.y, mx_start, my_start)) {
diff --git a/nav2_planner/include/nav2_planner/planner_server.hpp b/nav2_planner/include/nav2_planner/planner_server.hpp
index 1fe05393e28..04c7f91399f 100644
--- a/nav2_planner/include/nav2_planner/planner_server.hpp
+++ b/nav2_planner/include/nav2_planner/planner_server.hpp
@@ -76,6 +76,7 @@ class PlannerServer : public nav2::LifecycleNode
   nav_msgs::msg::Path getPlan(
     const geometry_msgs::msg::PoseStamped & start,
     const geometry_msgs::msg::PoseStamped & goal,
+    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
     const std::string & planner_id,
     std::function<bool()> cancel_checker);
 
diff --git a/nav2_planner/src/planner_server.cpp b/nav2_planner/src/planner_server.cpp
index 45b5a7daeb3..d5c5470f48e 100644
--- a/nav2_planner/src/planner_server.cpp
+++ b/nav2_planner/src/planner_server.cpp
@@ -394,8 +394,9 @@ void PlannerServer::computePlanThroughPoses()
 
       // Get plan from start -> goal
       nav_msgs::msg::Path curr_path;
+      std::vector<geometry_msgs::msg::PoseStamped> viapoints;
       try {
-        curr_path = getPlan(curr_start, curr_goal, goal->planner_id, cancel_checker);
+        curr_path = getPlan(curr_start, curr_goal, viapoints, goal->planner_id, cancel_checker);
       } catch (nav2_core::PlannerException & ex) {
         if (i == 0 || !params_->partial_plan_allowed) {
           throw;
@@ -546,7 +547,7 @@ PlannerServer::computePlan()
         return action_server_pose_->is_cancel_requested();
       };
 
-    result->path = getPlan(start, goal_pose, goal->planner_id, cancel_checker);
+    result->path = getPlan(start, goal_pose, goal->viapoints, goal->planner_id, cancel_checker);
 
     if (!validatePath<ActionThroughPoses>(goal_pose, result->path, goal->planner_id)) {
       throw nav2_core::NoValidPathCouldBeFound(goal->planner_id + " generated a empty path");
@@ -615,6 +616,7 @@ nav_msgs::msg::Path
 PlannerServer::getPlan(
   const geometry_msgs::msg::PoseStamped & start,
   const geometry_msgs::msg::PoseStamped & goal,
+  const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
   const std::string & planner_id,
   std::function<bool()> cancel_checker)
 {
@@ -624,14 +626,15 @@ PlannerServer::getPlan(
     goal.pose.position.x, goal.pose.position.y);
 
   if (planners_.find(planner_id) != planners_.end()) {
-    return planners_[planner_id]->createPlan(start, goal, cancel_checker);
+    return planners_[planner_id]->createPlan(start, goal, viapoints, cancel_checker);
   } else {
     if (planners_.size() == 1 && planner_id.empty()) {
       RCLCPP_WARN_ONCE(
         get_logger(), "No planners specified in action call. "
         "Server will use only plugin %s in server."
         " This warning will appear once.", planner_ids_concat_.c_str());
-      return planners_[planners_.begin()->first]->createPlan(start, goal, cancel_checker);
+      return planners_[planners_.begin()->first]->createPlan(start, goal, viapoints,
+        cancel_checker);
     } else {
       RCLCPP_ERROR(
         get_logger(), "planner %s is not a valid planner. "
diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
index 81e93b83217..5edf22acbf6 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_2d.hpp
@@ -88,6 +88,7 @@ class SmacPlanner2D : public nav2_core::GlobalPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
     const geometry_msgs::msg::PoseStamped & goal,
+    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
     std::function<bool()> cancel_checker) override;
 
 protected:
diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp
index cbd1d0239fc..9785410ad0c 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_hybrid.hpp
@@ -87,6 +87,7 @@ class SmacPlannerHybrid : public nav2_core::GlobalPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
     const geometry_msgs::msg::PoseStamped & goal,
+    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
     std::function<bool()> cancel_checker)  override;
 
 protected:
diff --git a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp
index 26d479b713b..76e65be7137 100644
--- a/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp
+++ b/nav2_smac_planner/include/nav2_smac_planner/smac_planner_lattice.hpp
@@ -86,6 +86,7 @@ class SmacPlannerLattice : public nav2_core::GlobalPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
     const geometry_msgs::msg::PoseStamped & goal,
+    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
     std::function<bool()> cancel_checker) override;
 
 protected:
diff --git a/nav2_smac_planner/src/smac_planner_2d.cpp b/nav2_smac_planner/src/smac_planner_2d.cpp
index e27a6a58307..a62641da414 100644
--- a/nav2_smac_planner/src/smac_planner_2d.cpp
+++ b/nav2_smac_planner/src/smac_planner_2d.cpp
@@ -194,8 +194,14 @@ void SmacPlanner2D::cleanup()
 nav_msgs::msg::Path SmacPlanner2D::createPlan(
   const geometry_msgs::msg::PoseStamped & start,
   const geometry_msgs::msg::PoseStamped & goal,
+  const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
   std::function<bool()> cancel_checker)
 {
+  if (!viapoints.empty()) {
+    RCLCPP_WARN(_logger, "Received %zu viapoints, but this planner ignores them",
+      viapoints.size());
+  }
+
   std::lock_guard<std::mutex> lock_reinit(_mutex);
   steady_clock::time_point a = steady_clock::now();
 
diff --git a/nav2_smac_planner/src/smac_planner_hybrid.cpp b/nav2_smac_planner/src/smac_planner_hybrid.cpp
index 49053d66281..c369bfceb37 100644
--- a/nav2_smac_planner/src/smac_planner_hybrid.cpp
+++ b/nav2_smac_planner/src/smac_planner_hybrid.cpp
@@ -339,8 +339,14 @@ void SmacPlannerHybrid::cleanup()
 nav_msgs::msg::Path SmacPlannerHybrid::createPlan(
   const geometry_msgs::msg::PoseStamped & start,
   const geometry_msgs::msg::PoseStamped & goal,
+  const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
   std::function<bool()> cancel_checker)
 {
+  if (!viapoints.empty()) {
+    RCLCPP_WARN(_logger, "Received %zu viapoints, but this planner ignores them",
+      viapoints.size());
+  }
+
   std::lock_guard<std::mutex> lock_reinit(_mutex);
   steady_clock::time_point a = steady_clock::now();
 
diff --git a/nav2_smac_planner/src/smac_planner_lattice.cpp b/nav2_smac_planner/src/smac_planner_lattice.cpp
index 585717229ed..64360a8be64 100644
--- a/nav2_smac_planner/src/smac_planner_lattice.cpp
+++ b/nav2_smac_planner/src/smac_planner_lattice.cpp
@@ -300,8 +300,14 @@ void SmacPlannerLattice::cleanup()
 nav_msgs::msg::Path SmacPlannerLattice::createPlan(
   const geometry_msgs::msg::PoseStamped & start,
   const geometry_msgs::msg::PoseStamped & goal,
+  const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
   std::function<bool()> cancel_checker)
 {
+  if (!viapoints.empty()) {
+    RCLCPP_WARN(_logger, "Received %zu viapoints, but this planner ignores them",
+      viapoints.size());
+  }
+
   std::lock_guard<std::mutex> lock_reinit(_mutex);
   steady_clock::time_point a = steady_clock::now();
 
diff --git a/nav2_smac_planner/test/test_smac_2d.cpp b/nav2_smac_planner/test/test_smac_2d.cpp
index 06f4e7e0bff..d1a00aa7454 100644
--- a/nav2_smac_planner/test/test_smac_2d.cpp
+++ b/nav2_smac_planner/test/test_smac_2d.cpp
@@ -56,7 +56,7 @@ TEST(SmacTest, test_smac_2d) {
       return false;
     };
 
-  geometry_msgs::msg::PoseStamped start, goal;
+  geometry_msgs::msg::PoseStamped start, goal, viapoint;
   start.pose.position.x = 0.0;
   start.pose.position.y = 0.0;
   start.pose.orientation.w = 1.0;
@@ -64,11 +64,16 @@ TEST(SmacTest, test_smac_2d) {
   goal.pose.position.x = 7.0;
   goal.pose.position.y = 0.0;
   goal.pose.orientation.w = 1.0;
+  // viapoint = start;
+  goal.pose.position.x = 3.5;
+  goal.pose.position.y = 0.0;
+  goal.pose.orientation.w = 1.0;
+  std::vector<geometry_msgs::msg::PoseStamped> viapoints{viapoint};
   auto planner_2d = std::make_unique<nav2_smac_planner::SmacPlanner2D>();
   planner_2d->configure(node2D, "test", nullptr, costmap_ros);
   planner_2d->activate();
   try {
-    planner_2d->createPlan(start, goal, dummy_cancel_checker);
+    planner_2d->createPlan(start, goal, viapoints, dummy_cancel_checker);
   } catch (...) {
   }
 
@@ -76,7 +81,7 @@ TEST(SmacTest, test_smac_2d) {
   goal.pose.position.x = 0.01;
   goal.pose.position.y = 0.01;
 
-  nav_msgs::msg::Path plan = planner_2d->createPlan(start, goal, dummy_cancel_checker);
+  nav_msgs::msg::Path plan = planner_2d->createPlan(start, goal, viapoints, dummy_cancel_checker);
   EXPECT_EQ(plan.poses.size(), 1);  // single point path
 
   planner_2d->deactivate();
diff --git a/nav2_smac_planner/test/test_smac_hybrid.cpp b/nav2_smac_planner/test/test_smac_hybrid.cpp
index 33eb6f12729..6497677243d 100644
--- a/nav2_smac_planner/test/test_smac_hybrid.cpp
+++ b/nav2_smac_planner/test/test_smac_hybrid.cpp
@@ -109,13 +109,18 @@ TEST(SmacTest, test_smac_se2)
       return false;
     };
 
-  geometry_msgs::msg::PoseStamped start, goal;
+  std::vector<geometry_msgs::msg::PoseStamped> no_viapoints{};
+  geometry_msgs::msg::PoseStamped start, goal, viapoint;
   start.pose.position.x = 0.0;
   start.pose.position.y = 0.0;
   start.pose.orientation.w = 1.0;
   goal.pose.position.x = 1.0;
   goal.pose.position.y = 1.0;
   goal.pose.orientation.w = 1.0;
+  viapoint.pose.position.x = 0.5;
+  viapoint.pose.position.y = 0.5;
+  viapoint.pose.orientation.w = 1.0;
+  std::vector<geometry_msgs::msg::PoseStamped> viapoints{viapoint};
   auto planner = std::make_unique<HybridWrap>();
 
   // invalid goal heading mode
@@ -160,7 +165,7 @@ TEST(SmacTest, test_smac_se2)
   planner->activate();
 
   try {
-    planner->createPlan(start, goal, dummy_cancel_checker);
+    planner->createPlan(start, goal, viapoints, dummy_cancel_checker);
   } catch (...) {
   }
 
@@ -186,7 +191,8 @@ TEST(SmacTest, test_smac_se2)
   goal.pose.position.x = 0.01;
   goal.pose.position.y = 0.01;
 
-  nav_msgs::msg::Path plan = planner->createPlan(start, goal, dummy_cancel_checker);
+  nav_msgs::msg::Path plan = planner->createPlan(
+    start, goal, no_viapoints, dummy_cancel_checker);
   EXPECT_EQ(plan.poses.size(), 1);  // single point path
 
   auto rec_param = std::make_shared<rclcpp::AsyncParametersClient>(
@@ -200,7 +206,8 @@ TEST(SmacTest, test_smac_se2)
   executor.spin_until_future_complete(results);
   goal.pose.position.x = 4.0;
   goal.pose.position.y = 4.0;
-  EXPECT_THROW(planner->createPlan(start, goal, dummy_cancel_checker), std::runtime_error);
+  EXPECT_THROW(planner->createPlan(
+    start, goal, no_viapoints, dummy_cancel_checker), std::runtime_error);
 
   planner->deactivate();
   planner->cleanup();
diff --git a/nav2_smac_planner/test/test_smac_lattice.cpp b/nav2_smac_planner/test/test_smac_lattice.cpp
index 467e0f009b6..612b47a0b66 100644
--- a/nav2_smac_planner/test/test_smac_lattice.cpp
+++ b/nav2_smac_planner/test/test_smac_lattice.cpp
@@ -121,13 +121,18 @@ TEST(SmacTest, test_smac_lattice)
       return false;
     };
 
-  geometry_msgs::msg::PoseStamped start, goal;
+  std::vector<geometry_msgs::msg::PoseStamped> no_viapoints{};
+  geometry_msgs::msg::PoseStamped start, goal, viapoint;
   start.pose.position.x = 0.0;
   start.pose.position.y = 0.0;
   start.pose.orientation.w = 1.0;
   goal.pose.position.x = 1.0;
   goal.pose.position.y = 1.0;
   goal.pose.orientation.w = 1.0;
+  viapoint.pose.position.x = 0.5;
+  viapoint.pose.position.y = 0.5;
+  viapoint.pose.orientation.w = 1.0;
+  std::vector<geometry_msgs::msg::PoseStamped> viapoints{viapoint};
   auto planner = std::make_unique<LatticeWrap>();
   try {
     // invalid goal heading mode
@@ -165,7 +170,7 @@ TEST(SmacTest, test_smac_lattice)
   planner->activate();
 
   try {
-    planner->createPlan(start, goal, dummy_cancel_checker);
+    planner->createPlan(start, goal, viapoints, dummy_cancel_checker);
   } catch (...) {
   }
 
@@ -192,7 +197,7 @@ TEST(SmacTest, test_smac_lattice)
   goal.pose.position.x = 0.01;
   goal.pose.position.y = 0.01;
 
-  nav_msgs::msg::Path plan = planner->createPlan(start, goal, dummy_cancel_checker);
+  nav_msgs::msg::Path plan = planner->createPlan(start, goal, no_viapoints, dummy_cancel_checker);
   EXPECT_EQ(plan.poses.size(), 1);  // single point path
 
   auto rec_param = std::make_shared<rclcpp::AsyncParametersClient>(
@@ -206,7 +211,8 @@ TEST(SmacTest, test_smac_lattice)
   executor.spin_until_future_complete(results);
   goal.pose.position.x = 4.0;
   goal.pose.position.y = 4.0;
-  EXPECT_THROW(planner->createPlan(start, goal, dummy_cancel_checker), std::runtime_error);
+  EXPECT_THROW(planner->createPlan(
+    start, goal, no_viapoints, dummy_cancel_checker), std::runtime_error);
 
   planner->deactivate();
   planner->cleanup();
diff --git a/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp b/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp
index 0e6b31c7af0..925b9318a56 100644
--- a/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp
+++ b/nav2_system_tests/src/error_codes/planner/planner_error_plugin.hpp
@@ -17,6 +17,7 @@
 
 #include <string>
 #include <memory>
+#include <vector>
 
 #include "rclcpp/rclcpp.hpp"
 #include "geometry_msgs/msg/point.hpp"
@@ -52,6 +53,7 @@ class UnknownErrorPlanner : public nav2_core::GlobalPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::PlannerException("Unknown Error");
@@ -63,6 +65,7 @@ class StartOccupiedErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::StartOccupied("Start Occupied");
@@ -74,6 +77,7 @@ class GoalOccupiedErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::GoalOccupied("Goal occupied");
@@ -85,6 +89,7 @@ class StartOutsideMapErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::StartOutsideMapBounds("Start OutsideMapBounds");
@@ -96,6 +101,7 @@ class GoalOutsideMapErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::GoalOutsideMapBounds("Goal outside map bounds");
@@ -107,6 +113,7 @@ class NoValidPathErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     return nav_msgs::msg::Path();
@@ -119,6 +126,7 @@ class TimedOutErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::PlannerTimedOut("Planner Timed Out");
@@ -130,6 +138,7 @@ class TFErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::PlannerTFError("TF Error");
@@ -141,6 +150,7 @@ class NoViapointsGivenErrorPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()>) override
   {
     throw nav2_core::NoViapointsGiven("No Via points given");
@@ -152,6 +162,7 @@ class CancelledPlanner : public UnknownErrorPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped &,
     const geometry_msgs::msg::PoseStamped &,
+    const std::vector<geometry_msgs::msg::PoseStamped> &,
     std::function<bool()> cancel_checker) override
   {
     auto start_time = std::chrono::steady_clock::now();
diff --git a/nav2_system_tests/src/planning/planner_tester.hpp b/nav2_system_tests/src/planning/planner_tester.hpp
index 5ce88310b45..27c4ca12a12 100644
--- a/nav2_system_tests/src/planning/planner_tester.hpp
+++ b/nav2_system_tests/src/planning/planner_tester.hpp
@@ -19,6 +19,7 @@
 #include <memory>
 #include <string>
 #include <thread>
+#include <vector>
 #include <algorithm>
 
 #include "nav2_ros_common/lifecycle_node.hpp"
@@ -85,7 +86,8 @@ class NavFnPlannerTester : public nav2_planner::PlannerServer
     }
     try {
       auto dummy_cancel_checker = []() {return false;};
-      path = planners_["GridBased"]->createPlan(start, goal, dummy_cancel_checker);
+      std::vector<geometry_msgs::msg::PoseStamped> viapoints{start};
+      path = planners_["GridBased"]->createPlan(start, goal, viapoints, dummy_cancel_checker);
       // The situation when createPlan() did not throw any exception
       // does not guarantee that plan was created correctly.
       // So it should be checked additionally that path is correct.
diff --git a/nav2_system_tests/src/planning/test_planner_plugins.cpp b/nav2_system_tests/src/planning/test_planner_plugins.cpp
index 76d6bf9a74a..6abec7058ad 100644
--- a/nav2_system_tests/src/planning/test_planner_plugins.cpp
+++ b/nav2_system_tests/src/planning/test_planner_plugins.cpp
@@ -19,6 +19,7 @@
 
 #include "geometry_msgs/msg/pose_stamped.hpp"
 #include "nav_msgs/msg/path.hpp"
+#include "nav_msgs/msg/goals.hpp"
 #include "rclcpp/rclcpp.hpp"
 #include "planner_tester.hpp"
 #include "nav2_util/geometry_utils.hpp"
@@ -47,6 +48,7 @@ void testSmallPathValidityAndOrientation(std::string plugin, double length)
 
   geometry_msgs::msg::PoseStamped start;
   geometry_msgs::msg::PoseStamped goal;
+  std::vector<geometry_msgs::msg::PoseStamped> no_viapoints;
 
   start.pose.position.x = 0.5;
   start.pose.position.y = 0.5;
@@ -62,7 +64,7 @@ void testSmallPathValidityAndOrientation(std::string plugin, double length)
 
   // Test without use_final_approach_orientation
   // expecting end path pose orientation to be equal to goal orientation
-  auto path = obj->getPlan(start, goal, "GridBased", dummy_cancel_checker);
+  auto path = obj->getPlan(start, goal, no_viapoints, "GridBased", dummy_cancel_checker);
   EXPECT_GT((int)path.poses.size(), 0);
   EXPECT_NEAR(tf2::getYaw(path.poses.back().pose.orientation), -M_PI, 0.01);
   obj->onCleanup(state);
@@ -84,6 +86,7 @@ void testSmallPathValidityAndNoOrientation(std::string plugin, double length)
 
   geometry_msgs::msg::PoseStamped start;
   geometry_msgs::msg::PoseStamped goal;
+  std::vector<geometry_msgs::msg::PoseStamped> no_viapoints;
 
   start.pose.position.x = 0.5;
   start.pose.position.y = 0.5;
@@ -97,7 +100,7 @@ void testSmallPathValidityAndNoOrientation(std::string plugin, double length)
 
   auto dummy_cancel_checker = []() {return false;};
 
-  auto path = obj->getPlan(start, goal, "GridBased", dummy_cancel_checker);
+  auto path = obj->getPlan(start, goal, no_viapoints, "GridBased", dummy_cancel_checker);
   EXPECT_GT((int)path.poses.size(), 0);
 
   int path_size = path.poses.size();
@@ -128,6 +131,7 @@ void testCancel(std::string plugin)
 
   geometry_msgs::msg::PoseStamped start;
   geometry_msgs::msg::PoseStamped goal;
+  std::vector<geometry_msgs::msg::PoseStamped> no_viapoints;
 
   start.pose.position.x = 0.0;
   start.pose.position.y = 0.0;
@@ -142,7 +146,7 @@ void testCancel(std::string plugin)
   auto always_cancelled = []() {return true;};
 
   EXPECT_THROW(
-    obj->getPlan(start, goal, "GridBased", always_cancelled),
+    obj->getPlan(start, goal, no_viapoints, "GridBased", always_cancelled),
     nav2_core::PlannerCancelled);
   obj->onCleanup(state);
   obj.reset();
@@ -159,16 +163,17 @@ TEST(testPluginMap, Failures)
 
   geometry_msgs::msg::PoseStamped start;
   geometry_msgs::msg::PoseStamped goal;
+  std::vector<geometry_msgs::msg::PoseStamped> no_viapoints;
   std::string plugin_fake = "fake";
   std::string plugin_none = "";
 
   auto dummy_cancel_checker = []() {return false;};
 
-  auto path = obj->getPlan(start, goal, plugin_none, dummy_cancel_checker);
+  auto path = obj->getPlan(start, goal, no_viapoints, plugin_none, dummy_cancel_checker);
   EXPECT_EQ(path.header.frame_id, std::string("map"));
 
   try {
-    path = obj->getPlan(start, goal, plugin_fake, dummy_cancel_checker);
+    path = obj->getPlan(start, goal, no_viapoints, plugin_fake, dummy_cancel_checker);
     FAIL() << "Failed to throw invalid planner id exception";
   } catch (const nav2_core::InvalidPlanner & ex) {
     EXPECT_EQ(ex.what(), std::string("Planner id fake is invalid"));
diff --git a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp
index 2bb1837f2c1..3c7376c340a 100644
--- a/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp
+++ b/nav2_theta_star_planner/include/nav2_theta_star_planner/theta_star_planner.hpp
@@ -65,6 +65,7 @@ class ThetaStarPlanner : public nav2_core::GlobalPlanner
   nav_msgs::msg::Path createPlan(
     const geometry_msgs::msg::PoseStamped & start,
     const geometry_msgs::msg::PoseStamped & goal,
+    const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
     std::function<bool()> cancel_checker) override;
 
 protected:
diff --git a/nav2_theta_star_planner/src/theta_star_planner.cpp b/nav2_theta_star_planner/src/theta_star_planner.cpp
index 915ad05a549..5e3f63660c3 100644
--- a/nav2_theta_star_planner/src/theta_star_planner.cpp
+++ b/nav2_theta_star_planner/src/theta_star_planner.cpp
@@ -68,8 +68,14 @@ void ThetaStarPlanner::deactivate()
 nav_msgs::msg::Path ThetaStarPlanner::createPlan(
   const geometry_msgs::msg::PoseStamped & start,
   const geometry_msgs::msg::PoseStamped & goal,
+  const std::vector<geometry_msgs::msg::PoseStamped> & viapoints,
   std::function<bool()> cancel_checker)
 {
+  if (!viapoints.empty()) {
+    RCLCPP_WARN(logger_, "Received %zu viapoints, but this planner ignores them",
+      viapoints.size());
+  }
+
   std::lock_guard<std::mutex> lock_reinit(param_handler_->getMutex());
   nav_msgs::msg::Path global_path;
   auto start_time = std::chrono::steady_clock::now();
diff --git a/nav2_theta_star_planner/test/test_theta_star.cpp b/nav2_theta_star_planner/test/test_theta_star.cpp
index e411c99fb57..7a9754a37c4 100644
--- a/nav2_theta_star_planner/test/test_theta_star.cpp
+++ b/nav2_theta_star_planner/test/test_theta_star.cpp
@@ -155,11 +155,12 @@ TEST(ThetaStarPlanner, test_theta_star_planner) {
     std::make_shared<nav2_costmap_2d::Costmap2DROS>("global_costmap");
   costmap_ros->on_configure(rclcpp_lifecycle::State());
 
-  geometry_msgs::msg::PoseStamped start, goal;
+  geometry_msgs::msg::PoseStamped start, goal, viapoint;
   start.pose.position.x = 0.0;
   start.pose.position.y = 0.0;
   start.pose.orientation.w = 1.0;
   goal = start;
+  viapoint = start;
   auto planner_2d = std::make_unique<nav2_theta_star_planner::ThetaStarPlanner>();
   planner_2d->configure(life_node, "test", nullptr, costmap_ros);
   planner_2d->activate();
@@ -168,7 +169,9 @@ TEST(ThetaStarPlanner, test_theta_star_planner) {
       return false;
     };
 
-  nav_msgs::msg::Path path = planner_2d->createPlan(start, goal, dummy_cancel_checker);
+  std::vector<geometry_msgs::msg::PoseStamped> viapoints{viapoint};
+  nav_msgs::msg::Path path = planner_2d->createPlan(
+    start, goal, viapoints, dummy_cancel_checker);
   EXPECT_GT(static_cast<int>(path.poses.size()), 0);
 
   // test if the goal is unsafe
@@ -180,7 +183,8 @@ TEST(ThetaStarPlanner, test_theta_star_planner) {
   goal.pose.position.x = 1.0;
   goal.pose.position.y = 1.0;
 
-  EXPECT_THROW(planner_2d->createPlan(start, goal, dummy_cancel_checker), nav2_core::GoalOccupied);
+  EXPECT_THROW(planner_2d->createPlan(start, goal, viapoints, dummy_cancel_checker),
+    nav2_core::GoalOccupied);
 
   planner_2d->deactivate();
   planner_2d->cleanup();