Clickable cells responding to coordinates

Hi All,
I am working on a map application in Shiny,
I have a table with city names.
What I want to realize is clicking in a two table cells ( which correspond in two points in map) and this will create a route between them.
Any ideas or reference in this kind of problem?
I am trying to use leaflet or ggmap but still struggling on this.
Kind Regards

You may want to look into the mapsapi package in R. Not sure it has all you need, but I think it's a good start.

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