Create footprint_collision_checker.py

[ThomasHaley-neya]

Backport of footprint_collision_checker to Nav2 Humble

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Basic Info

Info	A simple backport of the FootprintCollisionChecker API to Nav2 Humble
Ticket(s) this addresses	(4898)
Primary OS tested on	Ubuntu
Robotic platform tested on	Custom Gazebo Sim
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

• Basically just copied FootPrintCollision checker to the Humble branch. One line change at the bottom of worldToMapValidated to make compatible with the Humble version of PyCostmap2D

Description of documentation updates required from your changes

• Unsure if any docs need changed.

Description of how this change was tested

• Tested in simulation, was able to use footprintCost and lineCost to detect a collision on my bot.

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

[mergify]

@ThomasHaley-neya, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @humble, but it must be in main
to have these changes reflected into new distributions.

[SteveMacenski]

@ThomasHaley-neya just sanity check me that you've tested this generally speaking and it works / doesn't crash from incorrect members.

[ThomasHaley-neya]

@ThomasHaley-neya just sanity check me that you've tested this generally speaking and it works / doesn't crash from incorrect members.

Yep, just went back and tested all member functions and everything seems kosher.

A crash can happen if the user calls setCostmap() and passes something other than an occupancy grid, but that is the same behavior that occurs on main. Maybe another ticket should be opened to add a check there?

[SteveMacenski]

If the wrong thing is passed in, then I suppose that should be expected in Python without type checking