[ros-users] navigation stack : changing inflation_radius

Hi

I have two questions regarding the navigation stack.

1)  is it possible to change inflation radius after we start move_base?
    Currently we set new
/move_base_node/local_costmap/inflation_radius parameter and rosnode
kill /move_base_node.. but this takes about 10 seconds for respawn.We
look for faster solution.

2) The robot behaves according to the move_base Default Recovery
Behaviors shown in http://www.ros.org/wiki/move_base page
Is there a way to know current robot behavior (navigation?clarning rotatoin?)