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I figured it out, for turtlebot3 this is how you edit your move_base.launch file to use teb_local_planner and the costmap converter plugin:

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />
  <arg name="move_forward_only" default="false"/>

  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS"/>
    <param name="base_global_planer" value="global_planner/GlobalPlanner"/>
    <param name="controller_frequency" value="10.0" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find turtlebot3_navigation)/param/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
  </node>
  <node pkg="teb_local_planner" type="cmd_vel_to_ackermann_drive.py" name="cmd_vel_to_ackermann"> 
  </node>

</launch>

I figured it out, for turtlebot3 this is how you edit your move_base.launch file to use teb_local_planner and the costmap converter plugin:

<launch>
  <!-- Arguments -->
  <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
  <arg name="cmd_vel_topic" default="/cmd_vel" />
  <arg name="odom_topic" default="odom" />
  <arg name="move_forward_only" default="false"/>

  <!-- move_base -->
  <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
    <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS"/>
    <param name="base_global_planer" value="global_planner/GlobalPlanner"/>
    <param name="controller_frequency" value="10.0" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
    <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find turtlebot3_navigation)/param/base_local_planner_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
    <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
    <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
    <remap from="odom" to="$(arg odom_topic)"/>
  </node>
  <node pkg="teb_local_planner" type="cmd_vel_to_ackermann_drive.py" name="cmd_vel_to_ackermann"> 
  </node>

</launch>

I figured it out, for turtlebot3 this is how you edit your move_base.launch file to use teb_local_planner and the costmap converter plugin::

 <launch>
   <!-- Arguments -->
   <arg name="model" default="$(env TURTLEBOT3_MODEL)" doc="model type [burger, waffle, waffle_pi]"/>
   <arg name="cmd_vel_topic" default="/cmd_vel" />
   <arg name="odom_topic" default="odom" />
   <arg name="move_forward_only" default="false"/>

   <!-- move_base -->
   <node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
     <param name="base_local_planner" value="teb_local_planner/TebLocalPlannerROS"/>
     <param name="base_global_planer" value="global_planner/GlobalPlanner"/>
     <param name="controller_frequency" value="10.0" />
     <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="global_costmap" />
     <rosparam file="$(find turtlebot3_navigation)/param/costmap_common_params_$(arg model).yaml" command="load" ns="local_costmap" />
     <rosparam file="$(find turtlebot3_navigation)/param/local_costmap_params.yaml" command="load" />
      <rosparam file="$(find turtlebot3_navigation)/param/base_local_planner_params.yaml" command="load" />
     <rosparam file="$(find turtlebot3_navigation)/param/global_costmap_params.yaml" command="load" />
     <rosparam file="$(find turtlebot3_navigation)/param/move_base_params.yaml" command="load" />
     <remap from="cmd_vel" to="$(arg cmd_vel_topic)"/>
     <remap from="odom" to="$(arg odom_topic)"/>
   </node>
   <node pkg="teb_local_planner" type="cmd_vel_to_ackermann_drive.py" name="cmd_vel_to_ackermann"> 
   </node>
</launch>