[ewok_simulation/src/trajectory_replanning_example.cpp] Initialization of offset is wrong

[Flighy]

Hi. I think there is a problem in line 145 of 'trajectory_replanning_example.cpp.'
As far as I understand, offset in Ring Buffer is the lower left corner of the map. However, it seems that you are setting the sensor origin as offset in initialization step(line 139-147). Well, in your simulation case there was no problem, but in the situation of me this caused the problem.

Eigen::Vector3i _OFF(_N_2, _N_2, _N_2);
edrb->setOffset(idx - _OFF);

It would be nice to change line145 this way.
Thanks.

[kashifzr]

@Flighy I am bit late to see this, what problem you face while running this code, i am facing issue where optimization result in the same path as polynomial trajectory path, means there is no spline optimization here with reference path, result in collision with obstacles