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RVIZ has nothing to do with navigation. The button in RVIZ simply puts a message on the move_base_simple/goal topic. RVIZ simply allows you to visualize what is happening with the nodes you're running.

You want to implement your own navigation node and if I was doing the same I would stick with RVIZ and also use the button just for convenience. I think you should spend additional time working through ROS tutorials as it seems you have some misunderstandings about how it works, and implementing a new method for navigation will require a considerable level of integration.

You've asked for specific packages or tutorials so I suggest you use the Navigation Stack tutorials and really study the message passing required to make it work. Only once you really have a clear understanding of which nodes are doing what, and how the messages are formatted.