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You should find your answer here #q188257.
You can define the global planner in the move_base.launch.xml (this is an exemple from turtlebot navigation) by adding this in the launch file inside the node tag : <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/> or define the base_global_planner param in a yaml file.
And yes I think you should convert them to into the world coordinates because in general the algorithms are based on coordinates given by the costmap.
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You should change the default global planner instead of publishing your own goals (to answer your question, there are 3 topics using goals : move_base/goal, move_base/current_goal, move_base_simple/goal )
You should find your answer how to do it here #q188257.
You can define the global planner in the move_base.launch.xml (this is an exemple from turtlebot navigation) by adding this in the launch file inside the node tag : <param name="base_global_planner" value="carrot_planner/CarrotPlanner"/> or define the base_global_planner param in a yaml file.
And yes I think you should convert them to into the world coordinates because in general the algorithms are based on coordinates given by the costmap.
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