simple FIFO stack (queue) for MoveIt in ROS

Hi, I want to use a simple queue (FIFO stack) to give a list of waypoints to MoveIt. I looked at the tutorial : [Callbacks_and_Spinning](http://wiki.ros.org/roscpp/Overview/Callbacks%20and%20Spinning) and the class [CallbackQueue](http://docs.ros.org/diamondback/api/roscpp/html/classros_1_1CallbackQueue.html) but it looks like we can use it only with Publisher/Subscriber. Is there any existing simple queue or must I create it from array? Thanks