How to call ~make_plan service, give me an instance pls

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How to call ~make_plan service, give me an instance please.

The ~make_plan service is given by move_base package.

I hope to call this service by three ways:

1. commands in terminal
2. python or C++ code
3. use the current pose as the start data in real time.(Replan the path when the robot got confused by obstacles.)

Please give me some example/instances of using this ~make_plan service. in three ways.

Thank you very much!!