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Since we really needed our own local planner, I ended up with a custom solution.

The steering_functions package provides functions to create a point-to-point path. Now I just sample our global plan with 1m intervals. For every point we calculate the goto-path and in the end the shortest goto-path is the path we will follow.

This path can simply be fed to move_base(_flex) as any other path, from there the global path can be resumed.