Add FootprintCollisionChecker to Humble branch

[ThomasHaley-neya]

Feature request

Feature description

The FootprintCollisionChecker python API is not present in the Humble version of ROS2. After some messing around a bit on my local machine it seems pretty trivial to backport it, and I feel it would be helpful to have.

Implementation considerations

The only edit I had to make to the current FootPrintCollisionChecker on main to get it working on humble was to change return self.costmap_.worldToMapValidated(wx, wy) to return self.costmap_.worldToMap(wx, wy) in the worldToMapValidated() function

[ThomasHaley-neya]

Made a PR:

#4899

[SteveMacenski]

Closing with PR open. This is pretty straight forward and I already followed up in the PR on a last question before merging.