Adapting mrs_octomap_planner for UGVs

[shehrozbashir546]

I am trying to adapt the MRS Singularity Project to use the mrs_octomap_planner for UGVs (husky/turtlebot).

1. I duplicated the example in the simulation repo called one_drone_3d_planner 
2. Git cloned the husky files
3. Git cloned the octomap_mapping_planning
4. Amended the sessions.yaml to launch the husky instead of the drone
5. Removed the take-off line

Gazebo launches fine but the package is not able to access the husky's odom. This in turn prevents it from starting the octomap planner and RVIZ.

I am well aware this was not designed for UGVs but if you were in my shoes, what part of the package would you start editing/studying? Would it suffice to just edit launch files or would you recommend a deep dive into the source code (C++)?