Hey man i'm extremely sorry for the slips(just shows how amateurish i am).
now i've added the move_base.xml to the tutorial. also i forgot to paste the
command to launch. i have also added that. thanks for pointing them out.
about the params, the links that i have suggested clearly explains what each
one does. but beyond that i also don't know. 
for example if u increase the inflation_radius(in
costmap_common_params.yaml) you certainly reduce the probability of
colliding with the obstacles. but u'r robot won't move between closely
spaced obstacles. but what i said could be easily interpreted if u read the
links. my knowledge is limited to what is said in those links.
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