Nav2 3954 consider robot footprint

[jwallace42]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	3954
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

This pr adds functionality to invalidate a path based based on footprint checks. This functionality was added to the isPathValid service. A new parameter called is_path_valid_check_footprint was added to turn on/off the full footprint checks.

Description of documentation updates required from your changes

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[SteveMacenski]

Looks like the test failures are fixed with a pulling in of main or rebasing

[codecov]

Codecov Report

Attention: 15 lines in your changes are missing coverage. Please review.

Comparison is base (aa9396e) 90.41% compared to head (d7762d5) 90.41%.
Report is 11 commits behind head on main.

❗ Current head d7762d5 differs from pull request most recent head 69239a2. Consider uploading reports for the commit 69239a2 to get more accurate results

Files	Patch %	Lines
nav2_planner/src/planner_server.cpp	87.50%	4 Missing ⚠️
nav2_costmap_2d/src/costmap_2d_ros.cpp	50.00%	2 Missing ⚠️
nav2_smac_planner/src/smac_planner_2d.cpp	0.00%	2 Missing ⚠️
nav2_smac_planner/src/smac_planner_hybrid.cpp	0.00%	2 Missing ⚠️
nav2_smac_planner/src/smac_planner_lattice.cpp	0.00%	2 Missing ⚠️
...v2_util/include/nav2_util/simple_action_server.hpp	33.33%	2 Missing ⚠️
nav2_costmap_2d/src/costmap_2d.cpp	80.00%	1 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3990      +/-   ##
==========================================
- Coverage   90.41%   90.41%   -0.01%     
==========================================
  Files         415      415              
  Lines       18569    18673     +104     
==========================================
+ Hits        16789    16883      +94     
- Misses       1780     1790      +10     

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[mergify]

This pull request is in conflict. Could you fix it @jwallace42?