I noticed in the rcbot_waypoints.txt, there are waypoint types like health, weapon, ammo, etc. How do I use these waypoint types for waypointing?

If you place a waypoint next to healhkits or a health charger it should automatically be flagged as a health waypoint (it turns white). The same probably holds true for weapons and ammo (I don't think the color changes though).

I think they go for that stuff anyway even if there is no waypoint for them, like how they automatically push buttons that are nearby.