I need a makeplan service for movebase that takes a map as a parameter and returns the plan for the specified map, without changing the map used by move_base to compute the robot's trajectory. To clarify, I need this service as a way to choose among a set of maps.

I would appreciate any suggestions on the best way to do this.

Note that I realize there is a way to create a plugin for movebase that inherits from navcore::BaseGlobalPlanner and set is as the 'baseglobalplanner' param when I launch movebase, but I prefer inheriting from movebases's global_planner::GlobalPlanner if possible, since I only need to add functionality and would prefer using all the other methods of the original class.

I am using melodic on Ubuntu 18.04

Thank you !