Implementation of gloabal path planner for turtlebot

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Implementing the global planner plugin for move_base is a good first step. In the move_base / nav_core environment the local planner is responsible for calculating command velocities based on your current pose, the global plan, and local costmaps. There are several existing local planners which you can look at (e.g., DWA, TEB, EBand). Similar to how you've implemented your own global planner as a move_base plugin, you could implement your own local planner as a move_base plugin.

It can be overwhelming when you first start looking at move_base and how all of the components (i.e., global planner, local planner, etc.) interface. It would probably be beneficial to spend some time playing around with the built-in planners until you have a good feel for how everything fits together.