How to add the plan to the global planner.
I want to add a plan(already done) to the global planner. It will task much time like 5 minutes. So I want to make a plan and store that into something like json. And restart to use this json when I call move_base. So my question is do I need to change anything in move base code, or just change the plugin in the navigation and pick up one global planner, change the make plan function.
have you found the solution to this?