Local Planner and Offboard mode

Hi PX4 community,

I’ve been working on PX4-Avoidance (Local planner).
I am using D435 and Jetson board.
The local planner stack works fine in Position mode with manual control with a pilot.
I am try to use offboard mode and specify two waypoints (A,B) and there would be a obstacle between two waypoints. I want to see how local planner is going to avoide the obstacle and reach to point B.

May In know how can I sent the waypoint in offboard mode ?
Can I publish the waypoints to the flight controller to this topic ?