Feature/turtlebot3 support

[Alpaca-zip]

PR Type

• Feature
• Bug fix
• Refactor
• Documentation
• Other

Overview

• Improved turtlebot3 world to launch on gazebo and display optimisation results on rviz.
• Modified to start optimisation when 2D Nav Goal is set after 2D Pose Estimate on rviz.
• Added the functionality to display a cost map on the rviz of the areas where robots cannot pass.

Detail

• Improved turtlebot3 world to launch on gazebo and display optimisation results on rviz.
• Modified to start optimisation when 2D Nav Goal is set after 2D Pose Estimate on rviz.
• Added the functionality to display a cost map on the rviz of the areas where robots cannot pass.

Test

• I have tested this change with sample occupancy grid map.