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Hi! Basically, what you have to do is to implement planner that adheres to the nav_core::BaseGlobalPlanner C++ interface in nav_core package. Follow this tutorial, it quite nicely explains procedure to create your own global planner: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS

Hi! Basically, what you have to do is to implement planner that adheres to the nav_core::BaseGlobalPlanner C++ interface in nav_core package. Follow this tutorial, it quite nicely explains procedure of making your global planner as a plug-in to create your own global planner: Navigation Stack: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS