Hello, I developed a new global and local path planner in c++ and I want to integrate them in ROS. I found this tutorial for global planner: http://wiki.ros.org/navigation/Tutorials/Writing%20A%20Global%20Path%20Planner%20As%20Plugin%20in%20ROS

But, I cannot find similar tutorial for local planner, do you have any idea where could I find tutorial about integrating local planner in ROS.

Thanks a lot in advance,