jackal_cartographer_navigation lunacy! robot goes INSANE when given 2D nav goal

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Generic troubleshooting advice would be to simplify the system and then systematically add complexity when you're confident everything is working as intended. So in this case, I would start with the most simple navigation setup possible (no map, no laser, no cartographer, just one robot_localization EKF fusing wheel velocities and IMU orientation, and move_base navigation in the odom frame). This launch file looks like it's set up to do this.