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If you are talking about move_base local_planners, you cannot switch between runtime out-of-the-box.

What you could do is to write a "Default plugin" which allows you to take in Topics/Services/Actions from a stand-alone node, and handle switching via a state machine or something.

Also, there are two new approaches that extend move_base and could help you with this, that might be worth investigating (however, I cannto guarantee for anything ;-) ):

• move_base_flex by magazino link
• nav_core2 by locusrobotics link