diff --git a/dev/source/docs/ros.rst b/dev/source/docs/ros.rst
index 737c4e8915..b39879fc81 100644
--- a/dev/source/docs/ros.rst
+++ b/dev/source/docs/ros.rst
@@ -65,6 +65,7 @@ ROS 2
         ROS 2 with SITL <ros2-sitl>
         ROS 2 with SITL in Gazebo <ros2-gazebo>
         ROS 2 over Ethernet <ros2-over-ethernet>
+        ROS 2 waypoint goal interface <ros2-waypoint-goal-interface>
         Cartographer SLAM with ROS 2 in SITL <ros2-cartographer-slam>
 
 
diff --git a/dev/source/docs/ros2-waypoint-goal-interface.rst b/dev/source/docs/ros2-waypoint-goal-interface.rst
new file mode 100644
index 0000000000..e4f3ad5d45
--- /dev/null
+++ b/dev/source/docs/ros2-waypoint-goal-interface.rst
@@ -0,0 +1,126 @@
+.. _ros2-waypoint-goal-interface:
+
+====================================
+Goal Interface - Waypoints ROS2
+====================================
+
+This page shows how to set up ROS 2 DDS with ArduPilot SITL for global position control. 
+
+.. note::
+
+    these pages are a work-in-progress
+
+
+Usage
+============
+
+This page assumes that you've successfully followed the ROS 2 basic setups from this wiki: :ref:`ROS 2 <ros2>`, :ref:`ROS 2 with SITL <ros2-sitl>`, and :ref:`ROS 2 with gazebo <ros2-gazebo>`.
+
+Once that's done, simply run:
+
+.. code-block:: bash
+
+    cd ~/ros2_ws/src
+    source ~/ros2_ws/install/setup.bash
+    cd ardupilot/libraries/AP_DDS
+    ros2 run micro_ros_agent micro_ros_agent udp4 -p 2019 -r dds_xrce_profile.xml
+
+.. code-block:: bash
+
+    cd ~/ros2_ws/src/ardupilot
+    source ~/ros2_ws/install/setup.bash
+    ./Tools/autotest/sim_vehicle.py -w -v ArduPlane --console  --enable-dds --map -DG
+
+Now that SITL is running, you have two options: run the ROS2 Node or use CLI commands.
+
+Using CLI Commands
+==================
+
+1. **Arming the Plane**:
+    - Run the following command to arm the motors:
+
+    .. code-block:: bash
+
+        ros2 service call /ap/arm_motors ardupilot_msgs/srv/ArmMotors "{arm: true}"
+
+2. **Switching to Takeoff Mode**:
+    - Change the flight mode to takeoff:
+
+    .. code-block:: bash
+
+        ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 13}"
+
+3. **Reaching Takeoff Altitude**:
+    - Wait until the plane reaches the takeoff altitude. You can monitor the altitude using:
+
+    .. code-block:: bash
+
+        ros2 topic echo /ap/geopose/filtered
+
+    - Ensure the plane's altitude reaches the desired level (e.g., 630 meters AGL).
+
+4. **Switching to Guided Mode**:
+    - Once the takeoff altitude is reached, switch to guided mode:
+
+    .. code-block:: bash
+
+        ros2 service call /ap/mode_switch ardupilot_msgs/srv/ModeSwitch "{mode: 15}"
+
+5. **Sending Waypoint Command**:
+    - Publish the goal position to guide the plane to the desired waypoint:
+
+    .. code-block:: bash
+
+        ros2 topic pub /ap/cmd_gps_pose ardupilot_msgs/msg/GlobalPosition "{latitude: -35.345996, longitude: 149.159017, altitude: 635, coordinate_frame: 5}"
+
+Using ROS2 Node
+===============
+
+.. code-block:: bash
+
+    cd ~/ros2_ws
+    source ./install/setup.bash
+    ros2 run ardupilot_dds_tests plane_waypoint_follower
+
+Understanding the ROS 2 Node
+============================
+
+Here's a detailed explanation of how this `ROS2 Node works <https://github.com/ArduPilot/ardupilot/blob/master/Tools/ros2/ardupilot_dds_tests/ardupilot_dds_tests/plane_waypoint_follower.py>`_:
+
+1. **Initialization**:
+    - The node is initialized with `PlaneWaypointFollower(Node)`, which sets up the necessary parameters and clients for communication with ArduPilot services.
+
+2. **Service Clients**:
+    - `self._client_arm` and `self._client_mode_switch` are created to handle arming the motors and switching flight modes, respectively.
+    - These clients wait for the respective services to become available before proceeding.
+
+3. **Publishers and Subscribers**:
+    - A publisher `self._global_pos_pub` is created to send global position commands.
+    - A subscriber `self._subscription_geopose` listens for GeoPose messages to update the current position of the plane.
+
+4. **Callback Function**:
+    - `geopose_cb(self, msg: GeoPoseStamped)` processes incoming GeoPose messages and updates the current position.
+
+5. **Arming and Mode Switching Functions**:
+    - `arm(self)` sends a request to arm the motors.
+    - `switch_mode(self, mode)` sends a request to change the flight mode to either takeoff or guided.
+    - `arm_with_timeout(self, timeout: rclpy.duration.Duration)` and `switch_mode_with_timeout(self, desired_mode: int, timeout: rclpy.duration.Duration)` try to arm and switch modes with a timeout.
+
+6. **Mission Execution**:
+    - The node attempts to arm the plane and switch to takeoff mode.
+    - Once the plane reaches the takeoff altitude, it switches to guided mode.
+    - The node sends a goal position for the plane to reach using guided control.
+    - The `achieved_goal(goal_global_pos, cur_geopose)` function checks if the plane has reached the goal.
+
+Demo
+====
+
+Here's a quick video showcasing the results expected from this tutorial:
+
+..  youtube:: SHHw190RaHc
+    :width: 100%
+
+..  youtube:: FnChCmwBbHA 
+    :width: 100%
+
+For more information, refer to this `PR <https://github.com/ArduPilot/ardupilot/pull/25722>`__.