sbpl_lattice_planner as global planner of husky navigation

[ElenHuo]

I've run the demo of the sbpl_lattice planner ,it works. And i want to make it as the global planner of the move_base.launch of the husky navigation. However ,there're some errors as bellow:

[ERROR] [1537176333.433338887, 1300.390000000]: SBPL encountered a fatal exception: SBPL has encountered a fatal error!
[ERROR] [1537176333.433464289, 1300.390000000]: SBPL initialization failed!
[move_base-4] process has died [pid 16785, exit code 1, cmd /opt/ros/indigo/lib/move_base/move_base __name:=move_base __log:=/home/elen/.ros/log/5965829a-ba52-11e8-95d2-f894c2bd038a/move_base-4.log].
log file: /home/elen/.ros/log/5965829a-ba52-11e8-95d2-f894c2bd038a/move_base-4*.log

Perhaps the .mprim file i need to write it of Husky as you did of Rover. Right now, i do not know what i should do in the next step . I hope you can give me some suggestions.