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I'm going to answer my own question in case someone else comes across this in the future.

You need to write your own global path planner as a plugin http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS

then use that in your movebase launch file instead of the default ones.

You do not need a custom local planner. You can use the default local planner or any other local planner that you can find.