C++ Expert to develop CPP code for ROS1

I need to edit or revise on the CPP file for the Global and Local planner in Robot operating system files inside the simulation . Your editing will be crossponding to calling functions that calling navigation techniques through main CPP file .
you will get the CPP files as below

1- Global planner : CPP File
2- Local Planner : CPP File

you will explain the tree of the files CPP file - Main CPP.h file - lauch file move base file and any other related file .