Fixing bug causing sbpl plan being offset to robot origin #1
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… nav_msgs::Path poses
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SBPL operates in discretized grid space, but the plan returned by
sbpl_lattice_planneris in real space and should start at the robot's current pose. The discretization offset between the robot's current pose and the discretized pose was enough to cause a small offset to the robot origin in the plan, which can cause navigation problems when in close proximity to obstacles.