How to change global planner to carrot planner?

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Here are instructions for running chosen global planner on Turtlebot.

There are a few steps to follow to run your planner in turtlebot. First, you need to copy the package that contains your global planner (in our case global_planner) into the catkin workspace of your Turtlebot (e.g. catkin_ws). Then, you need to run catkin_make to export your plugin to your turtlebot ROS environment. Second, you need to make some modification to move_base configuration to specify the new planner to be used. For this, follow the three steps(...)

You have to modify move_base.launch.xml and:

(...) add the new planner as parameters of the global planner, as follows:

<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">

Save and close the move_base.launch.xml. Note that the name of the planner is global_planner/GlobalPlanner the same specified in global_planner_plugin.xml. Now, you are ready to use your new planner.

You have to modify it to use carrot_plannerin the XML file - carrot_planner is already there in example plugins.