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Alternate answer to your second question:

Mike's method of retrieving the path is the way to go if you want to call the planner directly, but if you want to interact with any planner through move_base and still want to retrieve the path, then you can subscribe to the /path topic that gets published for the sake of visualizing it. I might be wrong about the name of the topic - it might be /display_path or /path...I don't remember. However - I believe that it only publishes the {x, y} coordinates without theta.

Long story short - look at the documentation for move_base to see how to retrieve the path, it's a move_base thing not a planner thing.