Yes, thereīs a waypoint-readme in the hpb_bot (link above). Gravebot has some additional flags (also readme). My keybinds are:
bind "F5" "waypoint add"
bind "F6" "waypoint delete"
bind "F7" "pathwaypoint create1"
bind "F8" "pathwaypoint create2"
bind "F9" "pathwaypoint remove1"
bind "F10" "pathwaypoint remove2"
Maybe other keybinds are good for you, try it! To begin easily type:
in your console and you can run around in crossfire and see the waypoints and connections (lines between the waypoints, sometimes there are only one-way-connections). In open areas the autowaypoint-function is cool, it doesnīt work good in tight places. The crossfire-waypoints took me about 10 min.