add tree argument to multi path tracker class

guided_mrmp/controllers/multi_path_tracking.py

@@ -27,7 +27,7 @@ class MultiPathTracker:
         self.T = T
         self.DT = DT
         self.target_v = target_v
-        self.trees
+        self.trees = trees
 
         self.radius = dynamics.radius
 
@@ -51,7 +51,7 @@ class MultiPathTracker:
         # Path from waypoint interpolation
         self.paths = []
         for wp in waypoints:
-            self.paths.append(compute_path_from_wp(wp[0], wp[1], 0.05))
+            self.paths.append(compute_path_from_wp(wp[0], wp[1], 0.1))
 
         self.visited_points_on_guide_paths = [[]]*self.num_robots