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Path/trajectory planning is performed using the navigation stack which itself consist mainly of the move_base node and a costmap. move_base loads a local and a global planner plugin. So what you want is probably to load your selfmade global planner here.

You can refer to the Tutorial Writing a Global Path Planner as Plugin for ROS.

There are also a lot of other questions here regarding your concerns:

I recommend to first investigate how the navigation stack works in general before trying to implement your own plugin interface.

Path/trajectory planning is performed using the navigation stack which itself consist mainly of the move_base node and a (local/global) costmap. move_base loads a local and a global planner plugin. So what you want is probably to load your selfmade global planner here.

You can refer to the Tutorial Writing a Global Path Planner as Plugin for ROS.

There are also a lot of other questions here regarding your concerns:

I recommend to first investigate how the navigation stack works in general before trying to implement your own plugin interface.