Test data example:

rostopic pub /poses geometry_msgs/PoseArray "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
poses:
- position:
    x: 0.5
    y: 0.0
    z: 0.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0
- position:
    x: 0.0
    y: 1.7
    z: -1.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0
- position:
    x: 0.0
    y: 0.0
    z: 2.0
  orientation:
    x: 0.0
    y: 0.0
    z: 0.0
    w: 0.0"
