This node will read the generated points file and publish a path to the topic /drive_path

generated_points.txt

0.0 0.0 0.0
1.0 0.0 0.0
2.0 0.0 0.0
3.0 0.0 0.0
4.0 0.0 0.0
5.0 0.0 0.0
6.0 0.0 0.0
7.0 0.0 0.0
8.0 0.0 0.0
9.0 0.0 0.0
10.0 0.0 0.0
10.9588510772 0.244834876219 0.5
11.6829419696 0.919395388264 1.0
12.345132615 1.65599879199 0.592802814922
13.2771689026 1.98863652817 0.0928028149222
14.2545827214 1.8337116057 5.8759881221
15.0380690802 1.2291550488 5.3759881221
15.4358031933 0.322983387245 4.8759881221
15.3504058782 -0.662940952378 4.3759881221
14.8027853761 -1.48722930641 3.8759881221
13.9270182849 -1.94806713773 3.3759881221
12.9375229319 -1.93262527295 2.8759881221
12.0765622893 -1.44468441911 2.3759881221
11.4731950798 -0.650812169696 2.31120906298
10.6456264892 -0.108161515323 2.81120906298
10.0 0.0 3.14
9.00000000135 2.03052971583e-06 3.14159316122
8.00000000135 1.52289728786e-06 3.14159316122
7.00000000135 1.01526485989e-06 3.14159316122
6.00000000135 5.07632431918e-07 3.14159316122
5.00000000135 3.9479625454e-15 3.14159316122
4.00000000135 -5.07632424022e-07 3.14159316122
3.00000000135 -1.01526485199e-06 3.14159316122
2.00000000135 -1.52289727996e-06 3.14159316122
1.00000000135 -2.03052970793e-06 3.14159316122
2.69450950441e-09 -4.28492797529e-12 3.14000000135
0.0 0.0 3.14
-0.958459924144 0.246361682667 2.64
-1.68196375605 0.921750282441 2.17423741664
-2.42768581502 1.57231781594 2.67423741664
-3.39401718013 1.78572633891 3.17423741664
-4.34436623123 1.50972600203 3.67423741664
-5.04605437602 0.811891313629 4.17423741664
-5.32728388443 -0.136923456743 4.67423741664
-5.11919996458 -1.10441536223 5.17423741664
-4.47274881722 -1.8537086419 5.67423741664
-3.54620422901 -2.20135016838 6.17423741664
-2.56641662951 -2.06222517156 0.391052109465
-1.77327219436 -1.47039630282 0.891052109465
-1.21827846334 -0.642002078765 0.824398108683
-0.387476690619 -0.104314512131 0.324398108683

path_publisher.py

#! /usr/bin/python
# credit Matt Droter
import rospy
from nav_msgs.msg import Path
from geometry_msgs.msg import  PoseStamped
from tf.transformations import quaternion_from_euler
from std_msgs.msg import Float64

got_path = False

def path_callback(msg):
    global got_path
    if msg.data == -1.0:
        got_path = True

def path_publisher():
    rospy.init_node('path_publisher')
    rospy.Subscriber('got_path', Float64, path_callback)
    path_pub = rospy.Publisher('/drive_path', Path, queue_size=10)

    path = Path()
    
    path.header.frame_id = "map"
    path.header.seq = 0
    path.header.stamp = rospy.Time.now()
    
    seq = 0

    for line in content:
        #print(line)
        pose = PoseStamped()
        
        points = line.split()
        #print(points)
        x = float(points[0])
        y = float(points[1])
        yaw = float(points[2])

        quat = quaternion_from_euler(0, 0, yaw)

        pose.header.frame_id = "map"
        pose.header.seq = seq
        pose.pose.position.x = x
        pose.pose.position.y = y
        pose.pose.position.z = 0
        pose.pose.orientation.x = quat[0]
        pose.pose.orientation.y = quat[1]
        pose.pose.orientation.z = quat[2]
        pose.pose.orientation.w = quat[3]
        pose.header.stamp = path.header.stamp
        
        path.poses.append(pose)

        seq += 1


    while not rospy.is_shutdown():
        if (got_path is False):
            print("Sending Path")  
            path_pub.publish(path)
        else:
            break

        rospy.sleep(5)


content = {}
def load_file():
    # TODO: Get filename from rosparam
    # File format each waypoint on its own line:  
    #  x y yaw
    #  x y yaw
    
    global content
    try:
        with open('generated_points.txt', 'r') as file:
            content = file.readlines()
            content = [x.strip() for x in content]
    except:
        rospy.loginfo("File failed to load")


if __name__ == '__main__':
    try:
        load_file()
        path_publisher()
    except rospy.ROSInterruptException:
        pass