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I am starting research on how to write a plugin for the nav2 global planner. So far, I found this issue https://github.com/ros-planning/navigation2/issues/1646 with this repository https://github.com/shivaang12/navigation2/tree/feature/nav2_ompl_planner

Probably this can be helpful to you. I am planning to implement an RRT planner to nav2. For this, I am planning to use the off-the-shelf algorithms from OMPL to embed as a plugin on nav2. I think these links can be helpful.

Thanks

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