How to simplify multi-waypoint support?

At present, we use ros2 dds and px4 for communication. Now we can control the individual waypoints by sending the trajectory_setpoint. If we want to control multiple waypoints, we need to judge whether the last waypoint has been completed.Then send the next waypoint, judge the position, and cycle until the end.If a lot of waypoint information has been told before the flight, is there any other simple method besides using mission_item?
Although this requirement can be fulfilled by using mission_request_int/mission_ item_int/mission_count/mission_ack/set_mission_mode and related mavlink information, it may be complicated for a person who doesn’t know much about px4 to use these combinations