waypoints:
- point: {x: 0, y: 0, z: 0, vel: 1, rad: 0.3}
finish_pose:
  header: {seq: 0, stamp: 0.000000000, frame_id: }
  pose: 
    position: {x: 0, y: 0, z: 0}
    orientation: {x: 0, y: 0, z: 0, w: 0}