waypoints:
- point: {x: -0.996902, y: -0.499032, z: 0.0, vel: 1.0, rad: 0.5}
- point: {x: 0.45187, y: -0.576395, z: 0.0, vel: 0.5, rad: 0.2}
- point: {x: 0.66645, y: 0.504773, z: 0.0, vel: 0.3, rad: 0.3}
- point: {x: 0.515219, y: 2.015219, z: 0.0, vel: 0.8, rad: 0.3}
finish_pose:
  header: {seq: 0.0, stamp: 1620367430.3803937, frame_id: base_link}
  pose:
    position: {x: -0.550981, y: 2.010154, z: 0.0}
    orientation: {x: 0.0, y: 0.0, z: 0.99749, w: 0.07074}