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You can do this via 2 methods:

• If you are using python, you can simply use the dynamic reconfigure API to get the current configuration
• You can use the /move_base/local_costmap/parameter_updates topic. Since this is a latched topic, whenever you subscribe to this topic - you will receive one message which contains the current configuration. You should receive this message independent of whether a new configuration has been posted to the server or not.