SLAM: hecto&gmapping working good, carto only 2D implementation move_base planner

basic cluster segmention (RANSAC)

Manipulator-H: RRT obstacle avoidance (add, currently in diff repo), reach and grasp server

roslaunch infi_sim_v1 main.launch

params:

arm - includes arm

gazebo - start simulation in gazebo env

joy - includes joystick control

lidar - include lidar node

move_base - planner utilities (navigation)

gmapping - slam navgiation option (navigation)

roslaunch infi_sim_v1 main.launch gmapping:=true move_base:=true

amcl - slam navgiation asyn ml localization / requires map (navigation)

roslaunch infi_sim_v1 main.launch amcl:=true move_base:=true

hector - slam navgiation hector slam method (navigation)

roslaunch infi_sim_v1 main.launch hector:=true move_base:=true

carto - slam navgiation cartographer method (navigation)

roslaunch infi_sim_v1 main.launch carto:=true move_base:=true