Included global planner parameters and planner type in the launch file.

stretch_navigation/launch/navigation.launch

@@ -27,6 +27,9 @@
     <rosparam file="$(find stretch_navigation)/config/local_costmap_params.yaml" command="load" />
     <rosparam file="$(find stretch_navigation)/config/global_costmap_params_withmap.yaml" command="load" />
     <rosparam file="$(find stretch_navigation)/config/base_local_planner_params.yaml" command="load" />
+    <rosparam file="$(find stretch_navigation)/config/base_global_planner_params.yaml" command="load" />
+    
+    <param name="base_global_planner" value="global_planner/GlobalPlanner" />
     <remap from="/cmd_vel" to="/stretch/cmd_vel" />
   </node>