edit goal subscriber topic, add goal_pub node termination, improve readme.txt #5
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able to close node when there is no subscriber.
the '/' caused riskrrt_planner failed to subscribe to 'goal' topic published by goal_pub.cpp
launch files do not run goal node, which could be misleading when tutorial does not mention the need.
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Could not run the package one the first run, some edits made before it works:
edit goal subscriber topic = from '/goal' to 'goal'
add goal_pub node termination = enable quitting the node, avoid dead loop
improve readme.txt = provide goal_pub run commend