how to create randomly moving virtual obstacles

[zltnl]

Actually, DWA can be used regardless of the dynamic or static environment. All you have to do is to update the local map periodically according to the observations by LiDAR and so on. (If USE_SCAN_AS_INPUT=true, you don't even need to do that.)

The gif animation is achieved by randomly moving virtual obstacles of appropriate size. ROS comes with a visualization tool called rviz which makes it easy to visualize like the gif.

Originally posted by @YasunoriHirakawa in https://github.com/amslabtech/dwa_planner/issues/12#issuecomment-811865366