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The answer on this site ( http://answers.ros.org/question/39347/how-to-change-global-planner-of-move_base/ ) is correct. It's just adding the following code to move_base.launch.xml
< param name="base_global_planner" value="carrot_planner/CarrotPlanner" />
A way to check a change of planner is to use this command rostopic echo /move_base/parameter_updates
,but the problem of a topic in Global_Plan and Local_Plan on Rviz remains unsolved.