Added specific configuration file for the RRT global planner.

params/global_planner/rrt_planner_params.yaml

+base_global_planner: "rrt_planner/RrtPlanner"
+
+RrtPlanner:
+    # Global
+    debug:               true
+    outmap_prohibited:   true
+    smooth_path:         true
+
+    # RRT parameters
+    dimension:           2
+    # reconfigurable
+    star:                true
+    range:               35.0
+    precision:           0.1
+    map_precision:       0.2
+    neighbour_threshold: 0.4
+    costfunc_orig_w:     0.5
+    max_nodes:           30000
+    max_time:            3.0
+    robot_radius:        0.3
+    robot_speed:         0.5
+    rate:                1
+    frame_id:            map
+
+    cost_function_type:  1  #0: Euclidean, 1: SRS
+    sampler_type:        1  #0: UniformTree, 1: UniformCSpace, 2: Density
+    simulator_type:      1  #0: Static, 1: ConstSpeed, 2: LinearSRS
+    edge_connector_type: 0  #0: Linear
+

params/rrt_move_base_params.yaml

+#base_global_planner: #defined in the global planner parameter file
+#base_local_planner: #define in the local planner parameter file
+
+recovery_behavior_enabled: false
+recovery_behaviors:
+  - {name: rotational_recovery, type: rotational_recovery/RotationalRecovery}
+  - {name: conservative_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
+  - {name: rotate_recovery, type: rotate_recovery/RotateRecovery}
+  - {name: twist_recovery, type: twist_recovery/TwistRecovery}
+  - {name: aggressive_reset, type: clear_costmap_recovery/ClearCostmapRecovery}
+
+controller_frequency: 4.0
+planner_patience: 8.0
+controller_patience: 5.0
+planner_frequency: 5.0
+max_planning_retries: 5.0
+
+conservative_reset_dist: 3.0
+
+linear_x: -0.5
+linear_y: 0.0
+angular_z: 0.0
+
+clearing_rotation_allowed: false
+clearing_radius: 0.46
+shutdown_costmaps: false
+
+oscillation_timeout: -1.0
+oscillation_distance: 0.2