Adding epsilon for voxel_layer precision loss

[coderbaibai]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #5099)
Primary OS tested on	(Ubuntu)
Robotic platform tested on	(gazebo simulation of tb3 simulation)
Does this PR contain AI generated software?	(No)

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Description of contribution in a few bullet points

• Check if the points in the point cloud exceed the boundary of the cost map.
• If it exceeds the boundary, bring the point closer to the observation source to ensure that the target point is within the boundary.

Description of documentation updates required from your changes

Description of how this change was tested

• Launch tb3_simulation_launch.py and show the pointcloud of topic /local_costmap/clearing_endpoints in rviz2.
• The endpoints are always whithin the local_costmap.

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Future work that may be required in bullet points

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
• Should this be backported to current distributions? If so, tag with backport-*.

[SteveMacenski]

@coderbaibai please fix the linting issues and DCO sign offs. Then happy to merge! largely, you're missing spaces between operators like if(x>y){ should be if (x > y) {

[coderbaibai]

@coderbaibai please fix the linting issues and DCO sign offs. Then happy to merge! largely, you're missing spaces between operators like if(x>y){ should be if (x > y) {

Many thanks.To be honest, it's my first time to open a PR. No python file is changed but ament_py has gives errors. Can you please tell me how to deal with it?

[SteveMacenski]

The mypy linters were fixed already in another recent PR - so you'd just need to rebase. Though, you didn't touch python so I'm happy to merge this without that since it won't impact the main branch. I just fixed a couple more static code problems but once CI passes I'll merge this one!