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The goal of the global planner is to find the shortest path between your current position and the goal, It does so by using a graph search algorithm (A*, Dijsktra,etc) in a 2D grid that has no notion of robot kinematics.

The element that could give you a "smooth motion" would be the local planner, in your case the TEB local planner which configuration is not detailed in the guide you are refering to. My advice is to go over the parameter description in the teb local planner wiki page and tune it in a way that is free to ignore to a higher degree the path sent by the global planner.