For testing
roslaunch waypoint_navigation_plugin rviz.launch
Add the WaypointNav Tool from waypoint_navigation_plugin
Click on the tool to add multiple waypoints and drop onto RviZ scene. The locations can be updated by dragging the Interactive marker of by using the Rviz panel
Clicking "Publish Waypoints" on the panel publishes nav_msgs::Path on topic entered under "Topic"
