J Triz

library(rvest)
library(dplyr)
library(tibble)

# scape for waypoint, ll, and description
url <- "https://www.backpacker.com/trips/joshua-tree-national-park-california-riding-and-hiking-trail"

d <- read_html(url)
d <- d %>% html_nodes("p") %>% html_text()

# waypoints, lat lng coords, and descriptions
w  <- d[grepl(pattern = "WPT", d)]
ll <- d[(which(grepl(pattern = "WPT", d)) + 1)]
ds <- d[(which(grepl(pattern = "WPT", d)) + 2)]

# make the data frame
df <- tibble(w, ll, ds) %>% 
  tidyr::separate(ll, into = c(NA, "ll"), sep = ": ") %>% 
  tidyr::separate(ll, into = c("lat", "lng"), sep = ", ") %>% 
  mutate(lat = as.numeric(lat),
         lng = as.numeric(lng),
         wds = paste(w, ds, sep = ": ")) 

# make spatial
library(sp)
coords <- df[, 3:2]
data   <- df %>% select(w, ds)
pro    <- "+proj=longlat +datum=WGS84"

spdf <- SpatialPointsDataFrame(coords = coords,
                               data   = data, 
                               proj4string = CRS(pro))

# make leaflet
library(leaflet)
leaflet(spdf, width = "100%") %>% 
  addTiles() %>% 
  addMarkers(label = paste(w, ds, sep = ": ")) %>% 
  addProviderTiles(provider = providers$Esri.WorldImagery)

# save to kmz
#library(rgdal)
#writeOGR(spdf, "jtriz.kml", layer="wds", driver="KML")