Fix Misplaced Footprint on Static Layer

[HovorunBh]

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Basic Info

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

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Description of contribution in a few bullet points

I noticed that the robot footprint clearing is clearing the wrong spot on the local costmap. The offset is exactly odom->map TF
My static_layer on local costmap (rolling_window=True) subscribes to occupancy grid in 'map' frame

The robot pose received by the static layer is in the costmap's global frame, but it should be in the frame of the map it subscribes to, because otherwise the static layer is transformed by odom->map TF and the footprint ends up in the wrong place:

navigation2/nav2_costmap_2d/plugins/static_layer.cpp

Line 454 in 088c423

p = tf2_transform * p;

Description of how this change was tested

• Drive into static_layer's lethal space, see if the footprint is cleared in the correct place, and it is

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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

[mergify]

@HovorunBh, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[codecov]

Codecov Report

❌ Patch coverage is 50.00000% with 5 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
nav2_costmap_2d/plugins/static_layer.cpp	50.00%	5 Missing ⚠️

Files with missing lines	Coverage Δ
...ostmap_2d/include/nav2_costmap_2d/static_layer.hpp	100.00% <ø> (ø)
nav2_costmap_2d/plugins/static_layer.cpp	73.99% <50.00%> (-1.24%)	⬇️

... and 6 files with indirect coverage changes

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[SteveMacenski]

A few questions from a quick review to motivate discussion:

Should anything in updateBounds also be updated?

If the costmap is rolling, we find the TF lookup from map to global frame in updateCosts. To keep this time synchronized, should we find the transforms at the same stamp for the footprint and have this all stored for use later? Or, should we be using the robot pose given (x,y,yaw) to transform that pose from the global_frame into the map_frame rather than getting a new raw robot pose itself with getCurrentPose -- it seems like we should use the inputs instead of overriding them?

Finally, should the condition also be if the costmap is rolling or only when it is different?

[SteveMacenski]

@HovorunBh can you respond to my questions from Feb?

[SteveMacenski]

Closing due to inactivity and not answering necessary questions to move forward