creating a global planner with the trajectory in the odometry frame

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Hello

I am trying to implement a global trajectory planner, but I want to send a goal in the Odometry frame and I want the trajectory to also be created in the odometry frame.

The goal is a known point that is 1 or 2 meters in front of my robot, so I would like the whole trajectory and its execution to take place in the odometry frame.

In the example below, I created a trajectory planner that creates a simple line between the start point and the end point (in the future it will be improved), however the planner is publishing this trajectory in the MAP frame.

I used this tutorial to create my planner: Writing A Global Path Planner As Plugin in ROS

   #include <pluginlib/class_list_macros.h>
     #include "planejador_header.h"

     //register this planner as a BaseGlobalPlanner plugin
     PLUGINLIB_EXPORT_CLASS(planejador::Planejador, nav_core::BaseGlobalPlanner)

     using namespace std;

     //Default Constructor
     namespace planejador {

     Planejador::Planejador (){
     }

     Planejador::Planejador(std::string name, costmap_2d::Costmap2DROS* costmap_ros){
       initialize(name, costmap_ros);
     }

     void Planejador::initialize(std::string name, costmap_2d::Costmap2DROS* costmap_ros){
     }

     bool Planejador::makePlan(const geometry_msgs::PoseStamped& start, const geometry_msgs::PoseStamped& goal,  std::vector<geometry_msgs::PoseStamped>& plan ){

        plan.push_back(new_start);
        plan.push_back(new_goal);


    ROS_INFO(" Start -> Frame_ID:%s, x: %.2f, y: %.2f, quatX: %.2f, quatY: %.2f, quatZ: %.2f, quatW: %.2f ", start.header.frame_id.c_str(), start.pose.position.x, start.pose.position.y, start.pose.orientation.x, start.pose.orientation.y, start.pose.orientation.z, start.pose.orientation.w);
     ROS_INFO("Goal -> Frame_ID:%s, x: %.2f, y: %.2f, quatX: %.2f, quatY: %.2f, quatZ: %.2f, quatW: %.2f ", goal.header.frame_id.c_str(), goal.pose.position.x, goal.pose.position.y, goal.pose.orientation.x, goal.pose.orientation.y, goal.pose.orientation.z, goal.pose.orientation.w);

      return true;
     }
     };

let's say my robot is exactly stopped at point x: 0 and y: 0 in the odometry frame and I want it to move to point x: -1 y: -1 in the Odometry frame, I then publish the message:

rostopic pub /move_base/goal move_base_msgs/MoveBaseActionGoal "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: 'odom'
goal_id:
  stamp:
    secs: 0
    nsecs: 0
  id: ''
goal:
  target_pose:
    header:
      seq: 0
      stamp:
        secs: 0
        nsecs: 0
      frame_id: 'odom'
    pose:
      position:
        x: -1.0
        y: -1.0
        z: 0.0
      orientation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0"

after publishing the message with the above goal, I notice that my planner generated a trajectory in the MAP frame and not in the ODOMETRY frame as I would like.

[ INFO] [1591835655.041000784, 25.846000000]: Start -> Frame_ID:map, x: 0.05, y: -0.04, quatX: -0.00, quatY: -0.00, quatZ: -0.00, quatW: 1.00 
[ INFO] [1591835655.041009404, 25.846000000]: Goal -> Frame_ID:map, x: -0.95, y: -1.04, quatX: 0.00, quatY: -0.00, quatZ: -0.00, quatW: 1.00

the following video shows what happens: https://www.youtube.com/watch?v=0MiZjbwbQtE

any suggestion?