diff --git a/stretch_navigation/LICENSE.md b/stretch_navigation/LICENSE.md
index c45b1e2..ebb2d6f 100644
--- a/stretch_navigation/LICENSE.md
+++ b/stretch_navigation/LICENSE.md
@@ -7,5 +7,5 @@ The Contents are licensed under the Apache License, Version 2.0 (the "License").
 http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-   
+
 For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc.
diff --git a/stretch_navigation/README.md b/stretch_navigation/README.md
index e483c6c..073c7c6 100644
--- a/stretch_navigation/README.md
+++ b/stretch_navigation/README.md
@@ -30,7 +30,7 @@ Rviz will show the robot and the map that is being constructed. With the termina
 ```bash
 mkdir -p ~/stretch_user/maps
 rosrun map_server map_saver -f ${HELLO_FLEET_PATH}/maps/<map_name>
-``` 
+```
 
 The `<map_name>` does not include an extension. Map_saver will save two files as `<map_name>.pgm` and `<map_name>.yaml`.
 
@@ -76,4 +76,4 @@ roslaunch stretch_core teleop_twist.launch teleop_type:=keyboard # or use teleop
 
 ## License
 
-For license information, please see the LICENSE files. 
+For license information, please see the LICENSE files.
diff --git a/stretch_navigation/launch/navigation/map_server.launch b/stretch_navigation/launch/navigation/map_server.launch
index c9681d2..340129e 100644
--- a/stretch_navigation/launch/navigation/map_server.launch
+++ b/stretch_navigation/launch/navigation/map_server.launch
@@ -4,5 +4,5 @@
   <arg name="map_name" default="map" />
 
   <!-- launch map server -->
-	<node name="map_server" pkg="map_server" type="map_server" output="screen" args="$(arg map_name)"/>
-</launch>
\ No newline at end of file
+  <node name="map_server" pkg="map_server" type="map_server" output="screen" args="$(arg map_name)"/>
+</launch>
diff --git a/stretch_navigation/launch/navigation/move_base.launch b/stretch_navigation/launch/navigation/move_base.launch
index 9fef9df..9fa4c63 100644
--- a/stretch_navigation/launch/navigation/move_base.launch
+++ b/stretch_navigation/launch/navigation/move_base.launch
@@ -2,7 +2,7 @@
   <!-- Doc: http://wiki.ros.org/move_base?distro=kinetic -->
 
   <arg name="config"/>
-  
+
   <arg name="cmd_vel_topic"/>
   <arg name="odom_topic"/>
 
@@ -27,4 +27,4 @@
     <remap from="odom" to="$(arg odom_topic)" />
   </node>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_navigation/launch/navigation/octomap_server.launch b/stretch_navigation/launch/navigation/octomap_server.launch
index 966186f..f2c554c 100644
--- a/stretch_navigation/launch/navigation/octomap_server.launch
+++ b/stretch_navigation/launch/navigation/octomap_server.launch
@@ -1,6 +1,6 @@
 <launch>
   <!-- Doc: http://wiki.ros.org/octomap_server?distro=kinetic -->
-  
+
   <arg name="map" default="map" />
   <arg name="base_link" default="base_link" />
 
@@ -30,4 +30,4 @@
     <remap from="clear_bbx" to="clear_bbx_negative" />
     <remap from="reset" to="reset_negative" />
   </node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_navigation/launch/navigation_3d.launch b/stretch_navigation/launch/navigation_3d.launch
index bc1baf4..f086662 100644
--- a/stretch_navigation/launch/navigation_3d.launch
+++ b/stretch_navigation/launch/navigation_3d.launch
@@ -1,5 +1,5 @@
 <launch>
-  <!-- The navigation_3d launch file includes all of the launch files needed for a robot to accomplish 3D navigation.  
+  <!-- The navigation_3d launch file includes all of the launch files needed for a robot to accomplish 3D navigation.
   The nodes needed for navigation are map_server, octomap_server, amcl, and move_base.-->
 
   <!-- Map name -->
@@ -43,4 +43,4 @@
 
   <node type="rviz" name="rviz" pkg="rviz" args="-d $(find stretch_navigation)/rviz/octomap.rviz" />
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_navigation/resources/config/2d/base_local_planner_params.yaml b/stretch_navigation/resources/config/2d/base_local_planner_params.yaml
index 12418f8..e868c99 100644
--- a/stretch_navigation/resources/config/2d/base_local_planner_params.yaml
+++ b/stretch_navigation/resources/config/2d/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true
diff --git a/stretch_navigation/resources/config/2d/costmap_common_params.yaml b/stretch_navigation/resources/config/2d/costmap_common_params.yaml
index 2433f6b..f8e1e59 100644
--- a/stretch_navigation/resources/config/2d/costmap_common_params.yaml
+++ b/stretch_navigation/resources/config/2d/costmap_common_params.yaml
@@ -12,10 +12,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -23,4 +23,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.3
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_navigation/resources/config/2d/global_costmap_params.yaml b/stretch_navigation/resources/config/2d/global_costmap_params.yaml
index ca15b85..31590f1 100644
--- a/stretch_navigation/resources/config/2d/global_costmap_params.yaml
+++ b/stretch_navigation/resources/config/2d/global_costmap_params.yaml
@@ -7,7 +7,5 @@ global_costmap:
   robot_base_frame: base_link
   update_frequency: 10.0
   publish_frequency: 0.5
-  static_map: 
+  static_map:
     map_topic: /map
-    
-
diff --git a/stretch_navigation/resources/config/2d/global_planner_params.yaml b/stretch_navigation/resources/config/2d/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_navigation/resources/config/2d/global_planner_params.yaml
+++ b/stretch_navigation/resources/config/2d/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_navigation/resources/config/2d_unknown/base_local_planner_params.yaml b/stretch_navigation/resources/config/2d_unknown/base_local_planner_params.yaml
index a3712aa..e5ee461 100644
--- a/stretch_navigation/resources/config/2d_unknown/base_local_planner_params.yaml
+++ b/stretch_navigation/resources/config/2d_unknown/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true
diff --git a/stretch_navigation/resources/config/2d_unknown/costmap_common_params.yaml b/stretch_navigation/resources/config/2d_unknown/costmap_common_params.yaml
index d86fc60..6df93bf 100644
--- a/stretch_navigation/resources/config/2d_unknown/costmap_common_params.yaml
+++ b/stretch_navigation/resources/config/2d_unknown/costmap_common_params.yaml
@@ -10,10 +10,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -21,4 +21,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_navigation/resources/config/2d_unknown/global_planner_params.yaml b/stretch_navigation/resources/config/2d_unknown/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_navigation/resources/config/2d_unknown/global_planner_params.yaml
+++ b/stretch_navigation/resources/config/2d_unknown/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_navigation/resources/config/3d/base_local_planner_params.yaml b/stretch_navigation/resources/config/3d/base_local_planner_params.yaml
index 2d05e7b..3fd3a5e 100644
--- a/stretch_navigation/resources/config/3d/base_local_planner_params.yaml
+++ b/stretch_navigation/resources/config/3d/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
-  prune_plan: true
\ No newline at end of file
+
+  prune_plan: true
diff --git a/stretch_navigation/resources/config/3d/costmap_common_params.yaml b/stretch_navigation/resources/config/3d/costmap_common_params.yaml
index 30771b4..463edc1 100644
--- a/stretch_navigation/resources/config/3d/costmap_common_params.yaml
+++ b/stretch_navigation/resources/config/3d/costmap_common_params.yaml
@@ -33,7 +33,7 @@ map_type: costmap
     horizontal_fov_angle: 0.942478   #default 1.04, radians
     decay_acceleration: 1       #default 0, 1/s^2. If laser scanner MUST be 0
     model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar
-    
+
   negative_obstacle:
     enabled: true                #default true, can be toggled on/off with associated service call
     data_type: PointCloud2
@@ -52,10 +52,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -63,4 +63,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.2
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_navigation/resources/config/3d/global_costmap_params.yaml b/stretch_navigation/resources/config/3d/global_costmap_params.yaml
index 1616f6d..438015e 100644
--- a/stretch_navigation/resources/config/3d/global_costmap_params.yaml
+++ b/stretch_navigation/resources/config/3d/global_costmap_params.yaml
@@ -11,10 +11,9 @@ global_costmap:
   update_frequency: 10.0
   publish_frequency: 0.5
   rolling_window: false #idk about this one
-  static_map_2d: 
+  static_map_2d:
     map_topic: /map
-  static_map_3d_positive: 
+  static_map_3d_positive:
     map_topic: /projected_map
-  static_map_3d_negative: 
+  static_map_3d_negative:
     map_topic: /projected_map_negative
-    
diff --git a/stretch_navigation/resources/config/3d/global_planner_params.yaml b/stretch_navigation/resources/config/3d/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_navigation/resources/config/3d/global_planner_params.yaml
+++ b/stretch_navigation/resources/config/3d/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_navigation/resources/config/3d_unknown/base_local_planner_params.yaml b/stretch_navigation/resources/config/3d_unknown/base_local_planner_params.yaml
index 4c35e85..e5ee461 100644
--- a/stretch_navigation/resources/config/3d_unknown/base_local_planner_params.yaml
+++ b/stretch_navigation/resources/config/3d_unknown/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
-  prune_plan: true
\ No newline at end of file
+
+  prune_plan: true
diff --git a/stretch_navigation/resources/config/3d_unknown/costmap_common_params.yaml b/stretch_navigation/resources/config/3d_unknown/costmap_common_params.yaml
index 65116da..4b4d5fd 100644
--- a/stretch_navigation/resources/config/3d_unknown/costmap_common_params.yaml
+++ b/stretch_navigation/resources/config/3d_unknown/costmap_common_params.yaml
@@ -22,7 +22,7 @@ map_type: costmap
 
   origin_z: 0.0    #meters
   publish_voxel_map: true   # default off
-  transform_tolerance: 0.4    
+  transform_tolerance: 0.4
   mapping_mode: false  # default off, saves map not for navigation
   map_save_duration: 60     #default 60s, how often to autosave
   observation_sources: positive_obstacle negative_obstacle
@@ -40,7 +40,7 @@ map_type: costmap
     horizontal_fov_angle: 1.04   #default 1.04, radians
     decay_acceleration: 1       #default 0, 1/s^2. If laser scanner MUST be 0
     model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar
-    
+
   negative_obstacle:
     enabled: true                #default true, can be toggled on/off with associated service call
     data_type: PointCloud2
@@ -59,10 +59,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: /scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: /scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -70,4 +70,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_navigation/resources/config/3d_unknown/global_costmap_params.yaml b/stretch_navigation/resources/config/3d_unknown/global_costmap_params.yaml
index 67b5e3d..97bd877 100644
--- a/stretch_navigation/resources/config/3d_unknown/global_costmap_params.yaml
+++ b/stretch_navigation/resources/config/3d_unknown/global_costmap_params.yaml
@@ -12,4 +12,3 @@ global_costmap:
   width: 500.0
   height: 500.0
   resolution: 0.1
-    
diff --git a/stretch_navigation/resources/config/3d_unknown/global_planner_params.yaml b/stretch_navigation/resources/config/3d_unknown/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_navigation/resources/config/3d_unknown/global_planner_params.yaml
+++ b/stretch_navigation/resources/config/3d_unknown/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_navigation/resources/config/amcl.yaml b/stretch_navigation/resources/config/amcl.yaml
index bc52c49..27d9da3 100644
--- a/stretch_navigation/resources/config/amcl.yaml
+++ b/stretch_navigation/resources/config/amcl.yaml
@@ -40,4 +40,4 @@ amcl:
     always_reset_initial_pose: false
     use_map_topic: true
     scan_topic: "/scan"
-    map_topic: "/map"
\ No newline at end of file
+    map_topic: "/map"
diff --git a/stretch_navigation/resources/config/costmap_height.yaml b/stretch_navigation/resources/config/costmap_height.yaml
index 238f3e3..5ef188f 100644
--- a/stretch_navigation/resources/config/costmap_height.yaml
+++ b/stretch_navigation/resources/config/costmap_height.yaml
@@ -1,3 +1,3 @@
 3d_obstacles:
   positive_obstacle:
-    max_obstacle_height: 1.5
\ No newline at end of file
+    max_obstacle_height: 1.5
diff --git a/stretch_octomap/LICENSE.md b/stretch_octomap/LICENSE.md
index c45b1e2..ebb2d6f 100644
--- a/stretch_octomap/LICENSE.md
+++ b/stretch_octomap/LICENSE.md
@@ -7,5 +7,5 @@ The Contents are licensed under the Apache License, Version 2.0 (the "License").
 http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-   
+
 For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc.
diff --git a/stretch_octomap/README.md b/stretch_octomap/README.md
index 6c4e84b..b08760f 100644
--- a/stretch_octomap/README.md
+++ b/stretch_octomap/README.md
@@ -6,4 +6,4 @@
 
 ## License
 
-For license information, please see the LICENSE files. 
+For license information, please see the LICENSE files.
diff --git a/stretch_octomap/launch/octomap_mapper.launch b/stretch_octomap/launch/octomap_mapper.launch
index 1fbe987..6b26637 100644
--- a/stretch_octomap/launch/octomap_mapper.launch
+++ b/stretch_octomap/launch/octomap_mapper.launch
@@ -1,6 +1,6 @@
 <launch>
   <!-- Doc: http://wiki.ros.org/octomap_server?distro=kinetic -->
-  
+
   <arg name="pointcloud_topic" />
   <arg name="base_link" default="base_link" />
 
@@ -12,6 +12,6 @@
     <param name="frame_id" type="string" value="map" />
     <param name="sensor_model/max_range" value="3.0" />
     <param name="filter_ground" value="false" />
-      
+
   </node>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_rtabmap/LICENSE.md b/stretch_rtabmap/LICENSE.md
index c45b1e2..ebb2d6f 100644
--- a/stretch_rtabmap/LICENSE.md
+++ b/stretch_rtabmap/LICENSE.md
@@ -7,5 +7,5 @@ The Contents are licensed under the Apache License, Version 2.0 (the "License").
 http://www.apache.org/licenses/LICENSE-2.0
 
 Unless required by applicable law or agreed to in writing, the Contents are distributed under the License are distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the License for the specific language governing permissions and limitations under the License.
-   
+
 For further information about the Contents including inquiries about dual licensing, please contact Hello Robot Inc.
diff --git a/stretch_rtabmap/README.md b/stretch_rtabmap/README.md
index 7577fc3..d94f0a7 100644
--- a/stretch_rtabmap/README.md
+++ b/stretch_rtabmap/README.md
@@ -34,9 +34,9 @@ Use `rosdep` to install the required packages.
 ```
 ## Code Status & Development Plans
 
-Move_base_config | Gazebo | Stretch RE1
---- | --- | ---
-2d | okay | Good
-2d_unkown | Not Implemented | Not Implemented
-3d | Testing | Testing
-3d_unkown | Not Implemented | Not Implemented
\ No newline at end of file
+Move_base_config | Gazebo          | Stretch RE1
+-----------------|-----------------|----------------
+2d               | okay            | Good
+2d_unkown        | Not Implemented | Not Implemented
+3d               | Testing         | Testing
+3d_unkown        | Not Implemented | Not Implemented
diff --git a/stretch_rtabmap/config/2d/base_local_planner_params.yaml b/stretch_rtabmap/config/2d/base_local_planner_params.yaml
index 12418f8..e868c99 100644
--- a/stretch_rtabmap/config/2d/base_local_planner_params.yaml
+++ b/stretch_rtabmap/config/2d/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true
diff --git a/stretch_rtabmap/config/2d/costmap_common_params.yaml b/stretch_rtabmap/config/2d/costmap_common_params.yaml
index 2433f6b..f8e1e59 100644
--- a/stretch_rtabmap/config/2d/costmap_common_params.yaml
+++ b/stretch_rtabmap/config/2d/costmap_common_params.yaml
@@ -12,10 +12,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -23,4 +23,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.3
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_rtabmap/config/2d/global_costmap_params.yaml b/stretch_rtabmap/config/2d/global_costmap_params.yaml
index ca15b85..31590f1 100644
--- a/stretch_rtabmap/config/2d/global_costmap_params.yaml
+++ b/stretch_rtabmap/config/2d/global_costmap_params.yaml
@@ -7,7 +7,5 @@ global_costmap:
   robot_base_frame: base_link
   update_frequency: 10.0
   publish_frequency: 0.5
-  static_map: 
+  static_map:
     map_topic: /map
-    
-
diff --git a/stretch_rtabmap/config/2d/global_planner_params.yaml b/stretch_rtabmap/config/2d/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_rtabmap/config/2d/global_planner_params.yaml
+++ b/stretch_rtabmap/config/2d/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_rtabmap/config/2d_unknown/base_local_planner_params.yaml b/stretch_rtabmap/config/2d_unknown/base_local_planner_params.yaml
index a3712aa..e5ee461 100644
--- a/stretch_rtabmap/config/2d_unknown/base_local_planner_params.yaml
+++ b/stretch_rtabmap/config/2d_unknown/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true
diff --git a/stretch_rtabmap/config/2d_unknown/costmap_common_params.yaml b/stretch_rtabmap/config/2d_unknown/costmap_common_params.yaml
index d86fc60..6df93bf 100644
--- a/stretch_rtabmap/config/2d_unknown/costmap_common_params.yaml
+++ b/stretch_rtabmap/config/2d_unknown/costmap_common_params.yaml
@@ -10,10 +10,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -21,4 +21,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_rtabmap/config/2d_unknown/global_planner_params.yaml b/stretch_rtabmap/config/2d_unknown/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_rtabmap/config/2d_unknown/global_planner_params.yaml
+++ b/stretch_rtabmap/config/2d_unknown/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_rtabmap/config/3d/base_local_planner_params.yaml b/stretch_rtabmap/config/3d/base_local_planner_params.yaml
index 90a6336..7a26a73 100644
--- a/stretch_rtabmap/config/3d/base_local_planner_params.yaml
+++ b/stretch_rtabmap/config/3d/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
+
   prune_plan: true
diff --git a/stretch_rtabmap/config/3d/costmap_common_params.yaml b/stretch_rtabmap/config/3d/costmap_common_params.yaml
index 5d47e85..f5f0688 100644
--- a/stretch_rtabmap/config/3d/costmap_common_params.yaml
+++ b/stretch_rtabmap/config/3d/costmap_common_params.yaml
@@ -35,11 +35,11 @@ map_type: voxel
 2d_obstacles:
   enabled: true
   observation_sources: laser
-  laser: 
-    data_type: LaserScan 
+  laser:
+    data_type: LaserScan
     topic: /scan
     marking: true
-    clearing: true 
+    clearing: true
     expected_update_rate: 0.3
     track_unknown_space: true
 
@@ -47,4 +47,4 @@ map_type: voxel
 inflation_layer:
   enabled: true
   inflation_radius: 0.3
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_rtabmap/config/3d/global_costmap_params.yaml b/stretch_rtabmap/config/3d/global_costmap_params.yaml
index d2c3374..ca64166 100644
--- a/stretch_rtabmap/config/3d/global_costmap_params.yaml
+++ b/stretch_rtabmap/config/3d/global_costmap_params.yaml
@@ -9,6 +9,5 @@ global_costmap:
   update_frequency: 1.0
   publish_frequency: 0.5
   rolling_window: true
-  static_map_2d: 
+  static_map_2d:
     map_topic: /map
-    
diff --git a/stretch_rtabmap/config/3d/global_planner_params.yaml b/stretch_rtabmap/config/3d/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_rtabmap/config/3d/global_planner_params.yaml
+++ b/stretch_rtabmap/config/3d/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_rtabmap/config/3d_unknown/base_local_planner_params.yaml b/stretch_rtabmap/config/3d_unknown/base_local_planner_params.yaml
index 4c35e85..e5ee461 100644
--- a/stretch_rtabmap/config/3d_unknown/base_local_planner_params.yaml
+++ b/stretch_rtabmap/config/3d_unknown/base_local_planner_params.yaml
@@ -75,5 +75,5 @@ DWAPlannerROS:
   #yaw_goal_tolerance: 0.05
   #xy_goal_tolerance: 0.1
   #latch_xy_goal_tolerance: false
-  
-  prune_plan: true
\ No newline at end of file
+
+  prune_plan: true
diff --git a/stretch_rtabmap/config/3d_unknown/costmap_common_params.yaml b/stretch_rtabmap/config/3d_unknown/costmap_common_params.yaml
index 65116da..4b4d5fd 100644
--- a/stretch_rtabmap/config/3d_unknown/costmap_common_params.yaml
+++ b/stretch_rtabmap/config/3d_unknown/costmap_common_params.yaml
@@ -22,7 +22,7 @@ map_type: costmap
 
   origin_z: 0.0    #meters
   publish_voxel_map: true   # default off
-  transform_tolerance: 0.4    
+  transform_tolerance: 0.4
   mapping_mode: false  # default off, saves map not for navigation
   map_save_duration: 60     #default 60s, how often to autosave
   observation_sources: positive_obstacle negative_obstacle
@@ -40,7 +40,7 @@ map_type: costmap
     horizontal_fov_angle: 1.04   #default 1.04, radians
     decay_acceleration: 1       #default 0, 1/s^2. If laser scanner MUST be 0
     model_type: 0                #default 0 (depth camera). Use 1 for 3D Lidar
-    
+
   negative_obstacle:
     enabled: true                #default true, can be toggled on/off with associated service call
     data_type: PointCloud2
@@ -59,10 +59,10 @@ map_type: costmap
 
 2d_obstacles:
   observation_sources: laser
-  laser: {data_type: LaserScan, 
-          topic: /scan, 
-          marking: true, 
-          clearing: true, 
+  laser: {data_type: LaserScan,
+          topic: /scan,
+          marking: true,
+          clearing: true,
           expected_update_rate: 0.3,
           track_unknown_space: true
           }
@@ -70,4 +70,4 @@ map_type: costmap
 
 inflation_layer:
   inflation_radius: 0.75
-  cost_scaling_factor: 2.5
\ No newline at end of file
+  cost_scaling_factor: 2.5
diff --git a/stretch_rtabmap/config/3d_unknown/global_costmap_params.yaml b/stretch_rtabmap/config/3d_unknown/global_costmap_params.yaml
index 67b5e3d..97bd877 100644
--- a/stretch_rtabmap/config/3d_unknown/global_costmap_params.yaml
+++ b/stretch_rtabmap/config/3d_unknown/global_costmap_params.yaml
@@ -12,4 +12,3 @@ global_costmap:
   width: 500.0
   height: 500.0
   resolution: 0.1
-    
diff --git a/stretch_rtabmap/config/3d_unknown/global_planner_params.yaml b/stretch_rtabmap/config/3d_unknown/global_planner_params.yaml
index ea94948..e87e939 100644
--- a/stretch_rtabmap/config/3d_unknown/global_planner_params.yaml
+++ b/stretch_rtabmap/config/3d_unknown/global_planner_params.yaml
@@ -8,4 +8,4 @@ GlobalPlanner:
   orientation_window_size: 1
   publish_potential: false
   default_tolerance: 0.2
-  outline_map: false
\ No newline at end of file
+  outline_map: false
diff --git a/stretch_rtabmap/config/amcl.yaml b/stretch_rtabmap/config/amcl.yaml
index 9e5ef6f..3d79850 100644
--- a/stretch_rtabmap/config/amcl.yaml
+++ b/stretch_rtabmap/config/amcl.yaml
@@ -20,4 +20,4 @@ amcl:
     update_min_d: 0.25
     use_map_topic: true
     scan_topic: "/scan"
-    map_topic: "/map"
\ No newline at end of file
+    map_topic: "/map"
diff --git a/stretch_rtabmap/config/costmap_height.yaml b/stretch_rtabmap/config/costmap_height.yaml
index 238f3e3..5ef188f 100644
--- a/stretch_rtabmap/config/costmap_height.yaml
+++ b/stretch_rtabmap/config/costmap_height.yaml
@@ -1,3 +1,3 @@
 3d_obstacles:
   positive_obstacle:
-    max_obstacle_height: 1.5
\ No newline at end of file
+    max_obstacle_height: 1.5
diff --git a/stretch_rtabmap/config/stretch_gazebo.yaml b/stretch_rtabmap/config/stretch_gazebo.yaml
index c83bd21..5130d28 100644
--- a/stretch_rtabmap/config/stretch_gazebo.yaml
+++ b/stretch_rtabmap/config/stretch_gazebo.yaml
@@ -3,4 +3,4 @@ odom_topic: "/stretch_diff_drive_controller/odom"
 scan_topic: "/scan"
 pointcloud_topic: "/camera/depth/image_raw"
 rgb_topic: "/camera/color/image_raw"
-rgb_camera_info: "/camera/color/camera_info"
\ No newline at end of file
+rgb_camera_info: "/camera/color/camera_info"
diff --git a/stretch_rtabmap/launch/gazebo/gazebo.launch b/stretch_rtabmap/launch/gazebo/gazebo.launch
index 148ae29..eb2d32b 100644
--- a/stretch_rtabmap/launch/gazebo/gazebo.launch
+++ b/stretch_rtabmap/launch/gazebo/gazebo.launch
@@ -31,7 +31,7 @@
   <node name="rviz" pkg="rviz" type="rviz" args="-d $(find stretch_gazebo)/config/sim.rviz" if="$(arg rviz)"/>
 
   <rosparam command="load"
-            file="$(find stretch_gazebo)/config/joints.yaml" 
+            file="$(find stretch_gazebo)/config/joints.yaml"
             ns="stretch_joint_state_controller" />
 
   <rosparam command="load"
diff --git a/stretch_rtabmap/launch/move_base.launch b/stretch_rtabmap/launch/move_base.launch
index 0d01f7f..73db6e3 100644
--- a/stretch_rtabmap/launch/move_base.launch
+++ b/stretch_rtabmap/launch/move_base.launch
@@ -2,7 +2,7 @@
   <!-- Doc: http://wiki.ros.org/move_base?distro=kinetic -->
 
   <arg name="config"/>
-  
+
   <arg name="cmd_vel_topic"/>
   <arg name="odom_topic"/>
 
@@ -26,4 +26,4 @@
     <remap from="odom" to="$(arg odom_topic)" />
   </node>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_rtabmap/launch/robot.launch b/stretch_rtabmap/launch/robot.launch
index 80ee9f4..9ebbe6c 100644
--- a/stretch_rtabmap/launch/robot.launch
+++ b/stretch_rtabmap/launch/robot.launch
@@ -33,4 +33,4 @@
     <!-- ROBOT LOCALIZATION FILTER -->
     <include file="$(find stretch_core)/launch/stretch_ekf.launch" />
     <!-- -->
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_rtabmap/launch/rtab.launch b/stretch_rtabmap/launch/rtab.launch
index d67d404..633a1e9 100644
--- a/stretch_rtabmap/launch/rtab.launch
+++ b/stretch_rtabmap/launch/rtab.launch
@@ -2,7 +2,7 @@
   <arg name="localization"/>
   <arg name="args"/>
   <arg name="database_path"/>
-  <arg name="wait_for_transform"/> 
+  <arg name="wait_for_transform"/>
   <arg name="pointcloud_topic"/>
   <arg name="cmd_vel_topic"/>
   <arg name="odom_topic"/>
@@ -21,37 +21,37 @@
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
       <param name="subscribe_depth"     type="bool"   value="true"/>
       <param name="subscribe_scan"      type="bool"   value="true"/>
-    
+
       <!-- inputs -->
       <remap from="scan"            to="$(arg scan)"/>
       <remap from="rgb/image"       to="$(arg rgb_topic)"/>
       <remap from="depth/image"     to="$(arg pointcloud_topic)"/>
       <remap from="rgb/camera_info" to="$(arg rgb_camera_info)"/>
-      
+
       <!-- output -->
       <remap from="grid_map" to="/map"/>
-    
+
       <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
-      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   
-      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  
+      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>
+      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>
       <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
-      <param name="Reg/Strategy"                 type="string" value="1"/>      
+      <param name="Reg/Strategy"                 type="string" value="1"/>
       <param name="Icp/CoprrespondenceRatio"     type="string" value="0.3"/>
-      <param name="Vis/MinInliers"               type="string" value="6"/>      
-      <param name="Vis/InlierDistance"           type="string" value="0.1"/>    
-      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    
-      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    
+      <param name="Vis/MinInliers"               type="string" value="6"/>
+      <param name="Vis/InlierDistance"           type="string" value="0.1"/>
+      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>
+      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>
       <param name="Rtabmap/TimeThr"              type="string" value="700"/>
       <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
-      <param name="Reg/Force3DoF"                type="string" value="true"/>  
+      <param name="Reg/Force3DoF"                type="string" value="true"/>
       <param name="Grid/FromDepth"               type="string" value="true"/>
-      <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/> 
-      
+      <param name="RGBD/ProximityPathMaxNeighbors" type="string" value="10"/>
+
     </node>
-    
+
     <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
     <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
     <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
   </group>
 
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_rtabmap/launch/rtab_gazebo.launch b/stretch_rtabmap/launch/rtab_gazebo.launch
index f2876ea..7236a29 100644
--- a/stretch_rtabmap/launch/rtab_gazebo.launch
+++ b/stretch_rtabmap/launch/rtab_gazebo.launch
@@ -1,22 +1,22 @@
 <launch>
-  
+
   <arg name="database_path"     default="rtabmap.db"/>
   <arg name="args"              default=""/>
-  
-  <arg name="wait_for_transform"  default="0.2"/> 
+
+  <arg name="wait_for_transform"  default="0.2"/>
 
   <arg name="move_base_config" value="2d" />
   <arg name="pointcloud_topic" default="/camera/depth/color/points"/>
   <arg name="cmd_vel_topic" default="/stretch_diff_drive_controller/cmd_vel"/>
   <arg name="odom_topic" default="/stretch_diff_drive_controller/odom"/>
-  
+
   <!-- Navigation stuff (move_base) -->
   <include file="$(find stretch_navigation)/launch/navigation/move_base.launch">
       <arg name="config" value="$(arg move_base_config)" />
       <arg name="cmd_vel_topic" value="$(arg cmd_vel_topic)" />
       <arg name="odom_topic" value="$(arg odom_topic)" />
   </include>
-  
+
   <!-- Mapping -->
   <group ns="rtabmap">
 
@@ -27,35 +27,35 @@
       <param name="wait_for_transform_duration"  type="double"   value="$(arg wait_for_transform)"/>
       <param name="subscribe_depth"     type="bool"   value="true"/>
       <param name="subscribe_scan"      type="bool"   value="true"/>
-    
+
       <!-- inputs -->
       <remap from="scan"            to="/scan"/>
       <remap from="rgb/image"       to="/camera/color/image_raw"/>
       <remap from="depth/image"     to="/camera/depth/image_raw"/>
       <remap from="rgb/camera_info" to="/camera/color/camera_info"/>
-      
+
       <!-- output -->
       <remap from="grid_map" to="/map"/>
-    
+
       <!-- RTAB-Map's parameters: do "rosrun rtabmap rtabmap (double-dash)params" to see the list of available parameters. -->
-      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>   
-      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>  
+      <param name="RGBD/ProximityBySpace"        type="string" value="true"/>
+      <param name="RGBD/OptimizeFromGraphEnd"    type="string" value="false"/>
       <param name="Kp/MaxDepth"                  type="string" value="4.0"/>
-      <param name="Reg/Strategy"                 type="string" value="1"/>      
+      <param name="Reg/Strategy"                 type="string" value="1"/>
       <param name="Icp/CoprrespondenceRatio"     type="string" value="0.3"/>
-      <param name="Vis/MinInliers"               type="string" value="6"/>      
-      <param name="Vis/InlierDistance"           type="string" value="0.1"/>    
-      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>    
-      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>    
+      <param name="Vis/MinInliers"               type="string" value="6"/>
+      <param name="Vis/InlierDistance"           type="string" value="0.1"/>
+      <param name="RGBD/AngularUpdate"           type="string" value="0.1"/>
+      <param name="RGBD/LinearUpdate"            type="string" value="0.1"/>
       <param name="Rtabmap/TimeThr"              type="string" value="700"/>
       <param name="Mem/RehearsalSimilarity"      type="string" value="0.30"/>
       <param name="Optimizer/Slam2D"             type="string" value="true"/>
-      <param name="Reg/Force3DoF"                type="string" value="true"/>   
-      
+      <param name="Reg/Force3DoF"                type="string" value="true"/>
+
     </node>
-   
+
     <param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
     <param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
     <param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/>
   </group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_rtabmap/launch/rtabmapviz.launch b/stretch_rtabmap/launch/rtabmapviz.launch
index 156d22e..2fcb31a 100644
--- a/stretch_rtabmap/launch/rtabmapviz.launch
+++ b/stretch_rtabmap/launch/rtabmapviz.launch
@@ -1,8 +1,8 @@
 <launch>
-<group ns="rtabmap">  
+<group ns="rtabmap">
   <!-- Visualisation RTAB-Map -->
   <node pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
      <remap from="odom"              to="/stretch_diff_drive_controller/odom"/>
   </node>
 </group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_rtabmap/launch/rviz_rtab.launch b/stretch_rtabmap/launch/rviz_rtab.launch
index de618d5..85b7f18 100644
--- a/stretch_rtabmap/launch/rviz_rtab.launch
+++ b/stretch_rtabmap/launch/rviz_rtab.launch
@@ -6,4 +6,4 @@
   <group unless="$(arg mapping)">
     <node pkg="rviz" type="rviz" name="rviz" args="-d $(find stretch_rtabmap)/rviz/rtab_navigation.rviz"/>
   </group>
-</launch>
\ No newline at end of file
+</launch>
diff --git a/stretch_rtabmap/launch/start_rtab.launch b/stretch_rtabmap/launch/start_rtab.launch
index e1dec16..d0a7141 100644
--- a/stretch_rtabmap/launch/start_rtab.launch
+++ b/stretch_rtabmap/launch/start_rtab.launch
@@ -5,7 +5,7 @@
   <arg name="database_path"     default="rtabmap.db"/>
   <arg name="args"              default="-d"/>  <!--Possible arg -d to delete database on startup-->
 
-  <arg name="wait_for_transform"  default="0.2"/> 
+  <arg name="wait_for_transform"  default="0.2"/>
   <arg name="move_base_config"/>
 
 
@@ -26,7 +26,7 @@
       <arg name="localization" value="$(arg localization)"/>
       <arg name="args" value="$(arg args)"/>
       <arg name="database_path"     default="$(arg database_path)"/>
-      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/> 
+      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/>
       <arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
       <arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
       <arg name="odom_topic" default="$(arg odom_topic)"/>
@@ -53,7 +53,7 @@
       <arg name="localization" value="$(arg localization)"/>
       <arg name="args" value="$(arg args)"/>
       <arg name="database_path"     default="$(arg database_path)"/>
-      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/> 
+      <arg name="wait_for_transform"  default="$(arg wait_for_transform)"/>
       <arg name="pointcloud_topic" value="$(arg pointcloud_topic)"/>
       <arg name="cmd_vel_topic" value="/stretch/cmd_vel"/>
       <arg name="odom_topic" default="$(arg odom_topic)"/>
@@ -62,4 +62,4 @@
       <arg name="rgb_camera_info" default="$(arg rgb_camera_info)"/>
     </include>
   </group>
-</launch>
\ No newline at end of file
+</launch>