This is demo for Teb local planner. It's based on existing tutorials. It's showing examples how to place obstacles and viapoints.
Enviorment with ROS and python installed.
Teb local planner library installed.
ROS running.
Run example from tutorials.
roslaunch teb_local_planner test_optim_node.launchpython my_publish_viapoints.py 
python my_publish_obstacle.py
More about vaipoints you can find here.
You need to enable the publish feedback option first. Check this tutorial.
python my_publish_feedback.py
