Best way to send a goal with move_base that is off the global costmap?

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Hi Guys,

Using Hydro's navigation stack and move_base, I am trying to send a goal/waypoint to the robot that is at least 1000 meters away from the robots current position, if not more.

The local planner that I am using is: dwa_local_planner/DWAPlannerROS

The global planner that I am using is: navfn/NavfnROS

For the local and global costmap, I do not have a "static_map", so that is false, and I have turned rolling_window to true.

What is the best way to send a waypoint that is pretty far away from the robots current position without growing the size of the global costmap to be 1000 x 1000 meters or larger?

I do not want to have the robot plan the whole distance at once, as this would take a very long time, but plan as it goes, maybe every 20 meters without stopping, to get to the 1000 meter waypoint.

Is there a way to do this with the navigation stack?

Thank you in advance for your responses.