Hi, I am trying to use the global planner of navigation stack with my own local planner codes. It is the same as what move_base uses:

Navigation stack: https://github.com/ros-planning/navigation Global planner: http://www.ros.org/wiki/navfn

I have been trying to find the motion primitives to see how they are and the way they are working but till now I have not been that successful. I will appreciate to have some general guide on How can I find the primitives which are resulting for example as the outcome for trajectoryplannerROS globalplanner topic in movebase node?

Thanks in advance.