Backporting #2857 and #2862 into galactic#2882

Merged

SteveMacenski merged 2 commits intoros-navigation:galacticfrom

jonipol:cherry_raytraceLine_fix_to_galactic

Apr 4, 2022

Commits on Apr 1, 2022

Apply raytraceLine 3D fixes to its 2D version (#2857)

AlexeyMerzlyakov
authored and
jonipol
committed
Additional revision for costmap_bresenham_2d test (#2862)

AlexeyMerzlyakov
authored and
jonipol
committed