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Assuming you intend to use the rest of the Nav2 stack, and are just swapping out the controller ...

I'd still implement the pure_pursuit controller as a plugin to the controller server. I'd add the default interface setPlan and just make it convert from nav2_msgs::Path to pure_pursuit::path.

That effectively what the DWB plugin does now. It takes a nav2_msgs::Path and converts it to a nav_2d_msgs::Path2D.