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If you're using Electric, the navigation stack supports dynamic_reconfigure. That's probably the easiest way to do what you want to do.

If you're using Electric, the navigation stack supports dynamic_reconfigure. That's probably the easiest way to do what you want to do.

If you're using Diamondback, you might have a lot more difficulty. Most of the parameters of move_base in Diamondback are a one-time read, and thus require a restart of the node to re-initialize.