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I think the easiest solution would be to still use move base, but only use the Service Call to create the plans


As described here (1.1.5):

Then move_base will still generate the plan based on the local and global costmap, but not execute the plan, and your node can use it to navigate. You could additionally create a "fake local planner" code, which essentially does nothing to reduce some of the memory of move_base, but I am not sure how much effect that would have, since it should never be executed anyway.