parameters for costmap are out of date

[garaemon]

I think most of the parameters written in pr2_navigation_config package are out of date.
For example, inflation_radius should be like:

inflation_layer:
  inflation_radius: 0.55

the reference is here.
We needed to change the parameters as this diff

cc: @k-okada, @aginika

[DLu]

Note: I have a bunch of hydro-nav related changes in my repo, that I never had time to merge.
https://github.com/DLu/pr2_navigation