Publish generated path to use for visualisation

mg_navigation/include/handlers/dwa_core.hpp

@@ -109,6 +109,7 @@ namespace mg {
         rclcpp::Rate rate(UPDATE_RATE);
 
         while (target_check() && rclcpp::ok()) {
+            target_update();
             if (hgoal->is_canceling()) {
                 cancel();
                 return;

mg_navigation/include/handlers/dwa_global.hpp

@@ -22,7 +22,7 @@ namespace mg {
 
     template <>
     inline void DWA<MgNavigationServer::MoveGlobal>::target_update() {
-        baseNode.path_buffer()->update_path(goal);
+        baseNode.path_buffer()->update_path();
         target_pos = baseNode.path_buffer()->get_next(pos, LOOKAHEAD);
     }