Moving turtlebot with own implementation of Astar

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Hi, I have managed to use turtlebot3 (gazebo and Rviz) to create a map and use its data to implement an Astar algorithm(in python).The result is the series of (x,y) coordinates to which robot should move. But now i am confused which topic to publish into to tell robot to move to those places in that sequence.I know there is move_base package but it uses its own path planners,i have read that you can create your own plugin but i feel i might be overthinking and it might be some other way.So i have two questions:

1- Which topic or topics to use to publish these locations?

2-My results are in coordinates system,do i have to convert them back into world coordinates? Thanks.