Motion planning using carrot planner

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I'm unable to get simple carrot planner code , for motion planning, up and running.

The problem I'm trying to write code for is: to use carrot planner to move the erratic gazebo robot from a start point to end point.Here are the problems I am facing:

(1) I doubt if my design is correct, or if there's a simpler way to solve the above problem. Currently, I start erratic_wg.launch within simulator_gazebo. Next, I have a tf::listener instance running in a separate program, excerpts from which are given below. The listener uses the carrot planner while transforming from base_link to map:

void transformPoint(const tf::TransformListener& listener) 
{

         geometry_msgs::PointStamped laser_point;
         laser_point.header.frame_id = "base_link";
              ...
         tf::TransformListener mytf(ros::Duration(10));

         costmap_2d::Costmap2DROS costmap("my_costmap", mytf);
         carrot_planner::CarrotPlanner cp  ;
         cp.initialize("my_carrot_planner", &costmap);
         try
         {
                geometry_msgs::PointStamped base_point;
                listener.transformPoint("map", laser_point, base_point);

                geometry_msgs::PoseStamped start  ;
                start.pose.position.x = 0 , start.pose.position.y = 0,
                start.pose.position.z = 0;
                geometry_msgs::PoseStamped end;
                end.pose.position.x = 5 , end.pose.position.y = 5,
                end.pose.position.z = 0;

                std::vector<geometry_msgs::PoseStamped> plan;
                cp.makePlan(start, end, plan);
                // Should I send a cmd_vel message now for each step of the plan?
        }
}

(2) When my costmap is initialized as above, the listener code segfaults. I have traced this to the constructor of Costmap2DPublisher called within Costmap2DROS constructor, but haven't gone deeper than this. I am using ros version 1.2.4 and the older version of the navigation stack (i.e. which contained nav_view). I am not sure how to specify the navigation stack version more precisely (i.e. repo revision, etc.). Also, the latest navigation stack doesn't build , as pcl_ros doesn't compile on my ros. So I stuck with a previous version I had downloaded around Nov. 2010. I can provide further details if necessary.