This is my rosbag file that I recorded: https://drive.google.com/file/d/19Fxy60MQMF6pR1BPe0BV8vCnx0_eaEVO/view?usp=sharing This is the PCD file: https://drive.google.com/file/d/1odkiM2CYqJvr4-cOg9AK-jpPzf4dB2b8/view?usp=sharing This the generated waypoints: https://drive.google.com/file/d/1fvYQK6MO7Jwqy9PBAkU_RHzoO76kjqId/view?usp=sharing

As we can see in the csv file, the waypoints are not aligned properly, and under the simulation environment the vehicle doesnt move along a straight path as I expect( I moved the vehicle in a strainght path for around 17 seconds and generated the waypoint using the rosbag). I am not sure what went wrong. I assume the value for 'x' ( forward axes) should be gradually increasing, but the data in the saved_waypoints.csv files is messed up. I would appreciate if anyone could help me identify what i did wrong.