Initial position of robot is reset by traj_server

[rubbishdq]

See line 472 of traj_server.cpp. The initial position is reset by command from traj_server, making setting params in launch files meaningless.

[ZbyLGsc]

Yes it is a problem. Thanks for reporting it.

[ZbyLGsc]

Now the initial position fully depends on the params set in launch file. At the beginning of the exploration, traj_server utilizes the params to generate initialization motion.