Waypoint recorder now subscribes to "robot_pose" instead of "acml_pose"

The "acml_pose" topic gets updated only when the robot moves a substantial distance (0.5m ?).
Therefore, the waypoints cannot be specified exactly at the place the user requires.
Using the "robot_pose" topic, (which is updated at 10Hz) instead of "acml_pose" allows to save the waypoint coordinates whenever and wherever the users wants.