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What you're looking to do is implement your own global planner (interface: base_global_planner).

Read about how all the pieces link together in http://wiki.ros.org/navigation and http://wiki.ros.org/nav_core.

What you're really doing is creating a subclass of http://docs.ros.org/hydro/api/nav_core/html/classnav__core_1_1BaseGlobalPlanner.html, overriding the two methods to implement your functionality.

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