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To compute your yawin radians I think it should be yaw = atan2(goal.y - start.y, goal.x - start.x) instead of yaw = (goal.y - start.y) / (goal.x - start.x)

Otherwise, here is a tutorial for a plugin that plans a straight line. While the wrapping code is for ROS2 the core logic to compute the straight line is fully described: https://navigation.ros.org/plugin_tutorials/docs/writing_new_nav2planner_plugin.html