Instead of always moving in a straight line, the robot should be able to move on a spline motion curve.

Instead of executing a single trajectory as soon as the launch file is executed, implement a node such that it starts in an idle state. In this state, it will listen for an event. As soon as the event is triggered, corresponding waypoint trajectory should be executed.

This can be later merged with joypad buttons, such that, on press of different buttons, different trajectory can be triggered.

• trapezoid (finite acceleration and decceleration, go to max vel and stay there as long as possible)
• curved trapeziod (same as trapezoid except vel is continuously differenciable)

• Sometimes does not show text field widget in time input window
• Does not show curve after moving interactive markers

Right now decceleration = - acceleration. But they need to be different for different velocity curve

A yaml file containing waypoints along with time. This should be read at runtime and executed in odom frame

Square vel curve is like square wave. It assumes infinite acceleration is possible.