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is it possible to publish a trajectory plan in the odometry frame for ROS to try to navigate?

Yes, the plan message has a header and that header is used by properly implemented controllers to convert into the odom frame (and in this case, its already in it so it doesn't do anything).

You'd have to create a custom planner plugin to take these points and hand them off to the API when it requests a plan. That is then handed to the controller to follow. In ROS2 navigation, you could directly call the controller action server with a plan in that frame, but in ROS1 you'll have to create a plugin to 'fake out' the plan.