Revision history [back]

You can't (such that they are used by the global planners constructor).

If you plan to use the global planner as a plugin to move_base you need to adhere to the respective interface. You cannot simply change the constructor and assume everything works. You'd need to adapt move_base to pass the additional parameters, which doesn't really make sense...

However, the other global planners also have parameters that are read from the Parameter Server __after__ the Planner class is constructed. I suggest you follow the same route.