Added ros parameter in globals.yaml file and edited readme (#232)

* Added ros parameter in globals.yaml file and edited readme

* Updated readme to fix linter errors

* changes according to pr comments

* Alphabetized the planner list

src/global_launch/config/README.md

@@ -64,6 +64,15 @@ ROS parameters specific to the nodes in the local_pathfinding package.
 - _Datatype_: `boolean`
 - _Acceptable Values_: `true`, `false`
 
+### `navigate_main`
+
+**`path_planner`**
+
+- _Description_: The path planner to use. Planners are from [OMPL Library](https://ompl.kavrakilab.org/planners.html).
+- _Datatype_: `string`
+- _Acceptable Values_: `"bitstar"`, `"bfmtstar"`, `"fmtstar"`, `"informedrrtstar"`, `"lazylbtrrt"`, `"lazyprmstar"`,
+  `"lbtrrt"`, `"prmstar"`, `"rrtconnect"`, `"rrtsharp"`, `"rrtstar"`, `"rrtxstatic"`, `"sorrtstar"`
+
 ## Boat Simulator Parameters
 
 ROS parameters specific to the nodes in the boat simulator.

src/global_launch/config/globals.yaml

@@ -12,6 +12,9 @@ mgp_main:
       write: false
       gps_threshold: 1.5
       force: false
+navigate_main:
+   ros__parameters:
+      path_planner: "rrtstar"
 
 # boat_simulator parameters
 low_level_control_node: