When I give way with via_point it constantly follows the path

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Hi!

I have a 2 Wheel Differential Drive robot and I am using TEB Local planner for the local and global planners. I want to draw my own path by giving via points and I am sending certain points to the topic /move_base/TebLocalPlannerROS/via_points. I want it to go to the first point (0,1), then to the 2nd point (0,2), and finally, to the goal, which I entered in move_base_simple/goal. However, when it reaches the last point I want, instead of finishing the task, it comes back to the beginning point (0,1) and this cycle continues forever.

How can I solve this problem?

Is there a way to do this?

This is my code for publishing via_points:

int main(int argc, char **argv)
{
    ros::init(argc,argv,"Publish_via_point");
    ros::NodeHandle nh;
    ros::Publisher via_pub;

    via_pub = nh.advertise<nav_msgs::Path>("/move_base/TebLocalPlannerROS/via_points",1);

    nav_msgs::Path via_points_msg;
    via_points_msg.header.stamp = ros::Time::now();
    via_points_msg.header.frame_id = "map";

    geometry_msgs::PoseStamped via_points_1;
    via_points_1.pose.position.x = 0;
    via_points_1.pose.position.y = 1;

    geometry_msgs::PoseStamped via_points_2;
    via_points_2.pose.position.x = 0;
    via_points_2.pose.position.y = 2;


    via_points_msg.poses = {via_points_1,via_points_2};


    ros::Rate loop_rate(0.5);

    int count = 0;

    while(ros::ok() && count<1)
    {

        via_pub.publish(via_points_msg);

        ROS_INFO("Via_points are published. !!");

        ros::spinOnce();

        loop_rate.sleep();
        ++count;

    }

    return 0;
}

This is my code for sending goal:

int main(int argc, char **argv){
    ros::init(argc,argv,"Publish_goal");

    ros::NodeHandle nh;
    ros::Publisher pub;
    ros::Subscriber sub;
    double x, y, z=0.0;

    pub = nh.advertise<geometry_msgs::PoseStamped>("move_base_simple/goal",1);


    int count = 0;
    ros::Rate loop_rate(1.0);

    while (ros::ok() && count <1 )
    {
        geometry_msgs::PoseStamped goal;
        goal.header.stamp = ros::Time::now();
        goal.header.frame_id= "map";

        cout << "Please enter the x : \t" ;
        cin >>  x ; 
        cout << "Please enter the y : \t" ;
        cin >>  y ;
        goal.pose.position.x = x;
        goal.pose.position.y = y;
        goal.pose.position.z = 0.0;

        goal.pose.orientation.x = 0.0;
        goal.pose.orientation.y = 0.0;
        goal.pose.orientation.z = 0.0;
        goal.pose.orientation.w = 1.0;

        ROS_INFO("Goal position and orientation : %f, %f",goal.pose.position.x,goal.pose.position.y);

        pub.publish(goal);

        ros::spinOnce();

        loop_rate.sleep();
        ++count;
    }
    return 0;
};

First, I am running the via_points code and then I am running the move_base goal code.

System: Ubuntu 20 ROS Noetic