recursive bug first check hack

[jurriaanvoskes]

when recursive bug is used during the first check for obstacles in the path received from globalnav,
the recursive bug algorithm is called with startpoint, targetpoint. startpoint is not the same as robot currentpose, which causes issues with the determination of the extremes of the object, and the calculation of the new intermediate waypoint.

Aa hack has been put in place to temporary fix that problem.