navigating by map

edit

My project is about a catamaran robot that uses ROS to operate.Now, my job is to navigate the robot using a map instead of just the real time camera. I was wondering if their are path planning package on ROS that uses a map like Google earth to navigate autonomously in a lawnmower motion. also, I want to build a GUI that shows the location of the catamaran on a map, like Google earth. where it automatically sets the lawnmower motion unless another via point is added. all of this depends on the size and shape of the river or lake. thus, the lawnmower trajectory should be set accordingly.