How to make global_planner_plugin in ROS2

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So recently I was trying to make my own global_planner plugin in ROS2 but could not find a relevant tutorial. Although nav2_straightline_planner is an excellent guide but somehow its nav2_straightline_planner doesn't seem to work properly.

I was able to run the local_planner (Pure Pursuit ) with some slight modifications but I am unable to solve the issues caused by nav2_straightline_planner. Link to the issues faced..

So it's a request if anyone could provide a link to some other planner_plugin tutorial/Github/source_code or could give a solution to the above issue that will be of huge help.

Thanks in advance.