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move_base is one node that loads planners using pluginlib. Planner classes follow the interfaces defined in base_local_planner and base_global_planner, but they don't (usually) directly publish or subscribe to anything.

If you REALLY want to run a planner on it's own, you can write a small c++ node that loads the plugin as a member variable, and sets up the publishers/subscriptions as necessary.

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