Add costmap_2d package sources

Convert navigations/costmap_2d from gitlink to normal tracked files.

navigations/costmap_2d/launch/example.launch

@@ -0,0 +1,21 @@
+<launch>
+  <!-- 
+  NOTE: You'll need to bring up something that publishes sensor data (see
+  rosstage), something that publishes a map (see map_server), and something to
+  visualize a costmap (see nav_view), to see things work.
+
+  Also, on a real robot, you'd want to set the "use_sim_time" parameter to false, or just not set it.
+  -->
+  <param name="/use_sim_time" value="true"/>
+
+  <!-- Publishes the voxel grid to rviz for display -->
+  <node pkg="costmap_2d" type="costmap_2d_markers" name="voxel_visualizer">
+    <remap from="voxel_grid" to="costmap/voxel_grid"/>
+  </node>
+
+  <!-- Run the costmap node -->
+  <node name="costmap_node" pkg="costmap_2d" type="costmap_2d_node" >
+    <rosparam file="$(find costmap_2d)/launch/example_params.yaml" command="load" ns="costmap" />
+  </node>
+
+</launch>

navigations/costmap_2d/launch/example_params.yaml

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+global_frame: map
+robot_base_frame: base_link
+update_frequency: 5.0
+publish_frequency: 1.0
+
+#set if you want the voxel map published
+publish_voxel_map: true
+
+#set to true if you want to initialize the costmap from a static map
+static_map: false
+
+#begin - COMMENT these lines if you set static_map to true
+rolling_window: true
+width: 6.0
+height: 6.0
+resolution: 0.025
+#end - COMMENT these lines if you set static_map to true
+
+#START VOXEL STUFF
+map_type: voxel
+origin_z: 0.0
+z_resolution: 0.2
+z_voxels: 10
+unknown_threshold: 10
+mark_threshold: 0
+#END VOXEL STUFF
+
+transform_tolerance: 0.3
+obstacle_range: 2.5
+max_obstacle_height: 2.0
+raytrace_range: 3.0
+footprint: [[-0.325, -0.325], [-0.325, 0.325], [0.325, 0.325], [0.46, 0.0], [0.325, -0.325]]
+#robot_radius: 0.46
+footprint_padding: 0.01
+inflation_radius: 0.55
+cost_scaling_factor: 10.0
+lethal_cost_threshold: 100
+observation_sources: base_scan
+base_scan: {data_type: LaserScan, expected_update_rate: 0.4,
+  observation_persistence: 0.0, marking: true, clearing: true, max_obstacle_height: 0.4, min_obstacle_height: 0.08}