<launch>
	
  	<!--- Run optimization test node -->
   	<node pkg="teb_local_planner" type="test_optim_node" name="test_optim_node" output="screen" />

  	<!-- RVIZ -->
  	<node pkg="rviz" type="rviz" name="rviz" args="-d $(find teb_local_planner)/cfg/rviz_test_optim.rviz" />

</launch>

