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ros_teb_planner's Issues

Plan request don't publish anything

I am trying to use this wrapper to the teb_local_planner without success so far. I have a global planner that publishes as set of waypoints as a nav_msgs::Path, I was hoping that I could uses those by remapping this global path to the /add_waypoints and than sending a empty msg on /plan. It said that was planning but I got no output on the /local_plan topic.
My second attempt was by making a python wrapper that subscribes to this global path topic, populates a teb_planner_pa_msgs/Request and than publish it on /request. This time it generated a path with 3 poses, but all of them on the initial pose, so on rviz all that I can see is a red arrow on my start pose.

That's how I populate the Request msg:

def pathCallback(data):                                                                                                          
    request = Request()                                                                                                          
    request.start = data.poses[0].pose                                                                                           
    request.goal = data.poses[-1].pose                                                                                           
    request.waypoints = data                                                                                                    
                                                                                                                                  
    request.start_vel.linear.x = 20                                                                                              
    pub.publish(request)

Can you see here I am doing something wrong? I guess that I didn't understood the required workflow

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