Hi! i use now sbpl lattice planner as a global path planner for my robot. and i try to optimize parameters of sbpl. but my launch file is a bit heavy, so it takes too long to restart.

because of this, I want to change the parameters of sbpl while move_base is running and test the parameters.

I used rosparam api getparam und setparam to do this but it didn't work...

after this i try to do this with dynamicreconfigure (http://wiki.ros.org/dynamicreconfigure/Tutorials/UsingTheDynamicReconfigurePythonClient)

but i read this question and answer (https://answers.ros.org/question/37821/move-base-global-planners-switching/) because of that i'm not sure if i can change the parameter of sbpl through dynamic_reconfigure.

Is there any way to change the parameters of sbpl while movebase is running? Should I always run movebase again to optimize parameters?

Thanks for your Answer!!