Commanding simple paths / curves to move_base

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Hi

I want to measure the power consumption of my robot when it moves on some simple paths.
For example I would like to command a straight movement leading to a curve of a specific radius with a certain speed. Is there any way to save and modify certain paths? What I tried so far:

• Just giving goals to the robot leads to a very unspecific behavior which is not easily repeatable.
• Also simply using cmd_vel is too low level for this.

Thanks for your help.