If you don't have waypoints for your custom maps realbot WIP#9 would fit you best. It has some kind of autowaypointing by learning from human players - really cool
Or you can use an updated version of podbot. There are
plenty of waypoints available for it, use google to find them
. I did this today and came up with more then 1500 waypointfiles! I don't have the link handy at my home pc but I could post it here tomorrow from my office pc
.
There are also other bots around which have waypoints for many custom maps, e.g. joebot. But podbot was the most popular bot back in CS1.5 therefore the probability for waypoints is at best for it.