the way to check which planner is selected

asked 2014-04-14 08:00:36 -0600

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This question has relation to my former question ( http://answers.ros.org/question/15219... ). I want to confirm which planner is selected. I selected the eband_local_planner and carrot_planner in Rviz and added the definition of eband_local_planner param name="base_local_planner" value="eband_local_planner/EBandPlannerROS" and param name="base_global_planner" value="carrot_planner/CarrotPlanner"to move_base.launch.xml , but following is displayed on a terminal.

ken@ken:~$ rostopic echo /move_base/parameter_descriptions

dflt: 
  bools: 
    - 
      name: recovery_behavior_enabled
      value: True
    - 
      name: clearing_rotation_allowed
      value: True
    - 
      name: shutdown_costmaps
      value: False
    - 
      name: restore_defaults
      value: False
  ints: []
  strs: 
    - 
      name: base_global_planner
      value: navfn/NavfnROS
    - 
      name: base_local_planner
      value: base_local_planner/TrajectoryPlannerROS

Could anybody tell me the way to check which planner is selected if I'm wrong? I think that a dflt means initial value.

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ken@ken:~$ rostopic echo /move_base/parameter_updates bools: - name: recovery_behavior_enabled value: True - name: clearing_rotation_allowed value: True - name: shutdown_costmaps value: False - name: restore_defaults value: False ints: [] strs: - name: base_global_planner value: carrot_planner/CarrotPlanner - name: base_local_planner value: eband_local_planner/EBandPlannerROS doubles: - name: planner_frequency value: 2.0 - name: controller_frequency value: 5.0 - name: planner_patience value: 5.0 - name: controller_patience value: 3.0 - name: conservative_reset_dist value: 3.0 - name: oscillation_timeout value: 10.0 - name: oscillation_distance value: 0.2 groups: - name: Default state: True id: 0 parent: 0 ---

the way to check which planner is selected

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the way to check which planner is selected