Instead of the 2d pose estimate on Rviz to choose the way points. Can we manually save coordinates of the way-points into the rosbag?
Hello Thiaga,
The 2d Pose Estimate tool in Rviz is publishing to /initialpose topic with geometry_msgs/PoseWithCovariance message type.
You can use rostopic pub tool to set coordinates on that topic.
Regards,
Łukasz