Currently, I am working on a autonomous robot, which has a non-standard method of steering. Rather than using tank steering, it instead has two pivot wheels in the rear and two front-powered wheels. Because the base_local_planner that is currently being used does not have any support for this setup, the planning is basically useless.
The core question is: Is it possible to change the local planner used from base_local_planner to something like the teb_local_planner, which at least has support for the shape of the robot, and how would something like this be achieved?
Additional information:
I believe that the local planners you are talking about only support differential steering or skid steering. Sounds like your robot is more similar to Ackermann steering. I am not aware of any out of the box options for Ackermann in ROS, but I do know it has been done with hamster, if you can find how they did it, it might solve your issue.