From my understanding, there are two trajectory following methods used in the Avoidance repo. Setpoint for Offboard mode and Trajectory_setpoints in Mission Mode.
In Offboard setpoint mode, points are sent sequentially to mavros/setpoint_position/local, while in Mission mode, Mavros::Trajectory is sent to /mavros/trajectory/generated.
My question is, in Offboard mode, if it is using setpoint directly to control the drone, how does it control the drone to fly a smooth flying path? From simulation it seems that the flight was quite smooth, can anyone shed some light here.