fix crashes in AMCL

[easylyou]

fix #1151 about move_base crashes.

if the LaserScan.msg is malformed, the move_base will crash.
sensor_msgs/LaserScan.msg:
std_msgs/Header header
float32 angle_min
float32 angle_max
float32 angle_increment
float32 time_increment #it seems the value is below zero or beyond INT_MAX, roscore will throw a runtime_error.
float32 scan_time
float32 range_min
float32 range_max
float32[] ranges
float32[] intensities

in roscpp_core/rostime/include/ros/impl/duration.h
if (sec64 < std::numeric_limits<int32_t>::min() || sec64 > std::numeric_limits<int32_t>::max())
throw std::runtime_error("Duration is out of dual 32-bit range")

in roscpp_core/rostime/include/ros/impl/time.h
if (sec64 < 0 || sec64 > std::numeric_limits<uint32_t>::max())
throw std::runtime_error("Time is out of dual 32-bit range");

before fix:

after fix:

[easylyou]

fix #1151 about amcl crash.
It only need a few cycles to check some obvious malformed values, which prevents some crashes from these malformed messages.

    // in amcl_node.cpp    laserReceived()
    if(laser_max_range_ > 0.0)
      ldata.range_max = std::min(laser_scan->range_max, (float)laser_max_range_);
    else
      ldata.range_max = laser_scan->range_max

    //ldata.range_max is from laser_scan. It could be any value, such as zero.

    //in amcl_laser.cpp LikelihoodFieldModel()
double AMCLLaser::LikelihoodFieldModel(AMCLLaserData *data, pf_sample_set_t* set){

      double z_rand_mult = 1.0/data->range_max; //if range_max is zero, z_rand_mult will be inf.

      pz += self->z_rand * z_rand_mult;
      assert(pz <= 1.0);
      assert(pz >= 0.0);
}

[mikeferguson]

Just going to wait for CI to complete, then I'll merge this