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To extend the above answer:

You can definitely use OMPL inside of navigation. All the planners and algorithms are pluginlib plugins. You can create an OMPL plugin to replace the global planner that uses Dij. / A*. There are a few out there already if you search through GitHub.

To extend the above answer:

You can definitely use OMPL inside of navigation. All the planners and algorithms are pluginlib plugins. You can create an OMPL plugin to replace the global planner that uses Dij. / A*. There are a few out there already if you search through GitHub.

Ex. https://github.com/ykarmesh/RRT-Plugin

https://github.com/procopiostein/ompl_planner_base