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can I use the same planner for both global and local planner and can I have only one planner for navigation instead of using global and local planners?

I am trying to write a full coverage path planner, where the robot has to visit every free space in the costmap avoiding obstacles without any repetitions. For this I only want to have a single full coverage path planner instead of having global and local planners. Is it possible in ROS to have only one planner to navigate the robot? If it is possible what changes have to be done in move_base and other related programs?