fixing static layer update bounds with different fram

[2linkthefire]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	None
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Fix incomplete update bounds issue for static layers if global frame has rotation with map frame.

Description of how this change was tested

Fixed and tested in ROS1 navigation package on my physical robot platform in production for 1 week, migrated to ROS2.

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For Maintainers:

• Check that any new parameters added are updated in docs.nav2.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

[tonynajjar]

Does this try to fix the same thing as #4911?

[codecov]

Codecov Report

Attention: Patch coverage is 28.00000% with 18 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/plugins/static_layer.cpp	28.00%	18 Missing ⚠️

Files with missing lines	Coverage Δ
nav2_costmap_2d/plugins/static_layer.cpp	68.90% <28.00%> (-5.53%)	⬇️

... and 8 files with indirect coverage changes

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• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[2linkthefire]

Does this try to fix the same thing as #4911?

Not exactly. This is a basic map range error that existed in ros1. The footprint clearing function mentioned in this question seems to be a new addition to ros2.

[SteveMacenski]

I think this is correct, but how did you test / validate this?

There's also alot of untested code if you look at the codecov annotations - please fill these gaps with an integration test

Generally this looks good to me and I have no notes

[SteveMacenski]

@2linkthefire any update? :-)