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As @harshal suggested the above problem was solved by changing the frame_id to map. waypoints: - frame_id: map name: 3.74155664444_0.696490764618 pose: orientation: w: 1 x: 0 y: 0 z: 2.4 position: x: 5.0515566444396973 y: 2.4264907646179199 z: 0.0

fixed waypoints