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Adding Obstacles to Map During Robot (TurtleBot) Navigation

Hello,

I'm following the tutorial below for navigating a simulated turtlebot (no real robot is involved) on a ready map.

http://wiki.ros.org/turtlebot_simulator/Tutorials/hydro/Make%20a%20map%20and%20navigate%20with%20it

I was wondering if it was possible to add new obstacles to the map (through rviz?) in realtime while the robot is navigating the environment, just to check if the turtlebot is able to detect the new obstacles and avoid them.

Thanks