Local planner using self generated map

I have a world that I can map out on my own, using external data, and therefor I don’t need mapping sensors on my drone. In this case I don’t need laser sensors or cameras. I only need the GPS for self positioning on the map. How do I disable the camera and laser sensor which compute the pointcloud and instead insert my own map. And after doing that let the local planner run.
Thanks a lot for your help,