Chandler police on Friday released a video of a man waving a gun at a self-driving Waymo van Aug. 1.

The man, 69-year-old Roy Leonard Haselton, was arrested a week later. Police also confiscated his .22-caliber Harrington and Richardson Sportsman revolver.

Haselton was indicted on a charge of disorderly conduct with a weapon and on Dec. 7 pleaded guilty to the felony charge.

In the video shot by a camera on the Waymo van, Haselton can be seen standing shirtless in his Chandler driveway waving the pistol as the van approaches. It is unclear if the weapon points directly at the driver.

Driver Michael Palos told police in an interview that he first saw Haselton waving his arms as the van passed near his home, and that when the van came back by minutes later, he could see Haselton was holding a gun.

Palos said that as he passed by, Haselton pointed the gun directly at him, a police report said.

The video captures Haselton waiving the firearm as the van approaches and cuts off before the van passes directly by him.

Police reviewed the video, and Palos picked Haselton out of a photo lineup before the arrest, according to police reports.

"This is a rare circumstance involving a man with reported illness and it doesn't reflect the positive community response we've received from people who are excited and curious about self-driving technology," Waymo said in a prepared statement.

The incident is one of at least 21 interactions documented by Chandler police over the past two years in which people have harassed the autonomous vehicles and their human test drivers.

SEE ALSO: Why do Waymo vans get so much hate?

People have thrown rocks at Waymos. The tire on one was slashed while it was stopped in traffic. The vehicles have been yelled at, chased and one Jeep was responsible for forcing the vans off roads six times.

Many of the people harassing the van drivers appear to hold a grudge against the company, a division of Mountain View, California-based Alphabet Inc., which has tested self-driving technology in the Chandler area since 2016.

Haselton was scheduled to be sentenced Jan. 7 in Maricopa County Superior Court.

READ MORE:

Reach reporter Ryan Randazzo at ryan.randazzo@arizonarepublic.com or 602-444-4331. Follow him on Twitter @UtilityReporter.