Writing a local planner for move_base

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Hi everybody,

I'm trying to write my own local planner for the move_base node. But I'm not sure where to begin.

I've looked into move_base: http://wiki.ros.org/move_base , and I see that's neatly divided. So I was kinda hoping to perhaps create my own local planner that would imitate that of the move_base node (subscribe to the same topics and publish the same msgs), but I just can't find a way to do it.

I'm open to any suggestions.

I also tried this tutorial: http://wiki.ros.org/navigation/Tutori... Although it is made for the global planner, I thought it might be helpful. However the tutorial is made for the Turtlebot and I'm just running a simulation in Gazebo with my model of a robot. So when I try to set a goal in Rviz it I get an error saying:

[move_base-9] process has died [pid 14142, exit code -11, cmd /home/duje/catkin_ws/devel/lib/move_base/move_base /base_scan/scan:=/scan __name:=move_base __log:=/home/duje/.ros/log/a20bf18c-d8c3-11e5-853e-20cf303a8326/move_base-9.log]. log file: /home/duje/.ros/log/a20bf18c-d8c3-11e5-853e-20cf303a8326/move_base-9*.log

Don't know quite what's the problem, I can see in the rqt_dynamic_reconfigure window that the global planner IS set to RelaxedAStar.

my ROS distro: Indigo