Add option to override lethal cost in keepout zone

[mini-1235]

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5410 (comment)
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

---

Description of contribution in a few bullet points

As requested in #5410 (comment)

My current implementation will always prioritize map update, if there is a map update, it will skip checking "is_pose_lethal", and check it in the next loop

Description of documentation updates required from your changes

Description of how this change was tested

---

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-*.

[Copilot]

Pull Request Overview

This PR adds functionality to override lethal costs in keepout zones, allowing robots to navigate out of forbidden areas when they find themselves inside them. The main change relocates lethal pose checking from the process() method to updateBounds() to improve timing and efficiency.

• Moves lethal pose detection logic from process() to updateBounds() method
• Changes lethal state tracking variables from unsigned int to double for world coordinates
• Adds early return optimization when new keepout zone data is received

Reviewed Changes

Copilot reviewed 2 out of 2 changed files in this pull request and generated 5 comments.

File	Description
keepout_filter.cpp	Relocates lethal pose checking logic and optimizes bound updates for lethal state tracking
keepout_filter.hpp	Updates member variable types from unsigned int to double for lethal state coordinates

[SteveMacenski]

@mini-1235 can you fix the bot's comment on signed constness? that's a real fix needed

[SteveMacenski]

@mini-1235 can you pull in main? The CircleCI should pass then

[SteveMacenski]

Otherwise LGTM

[codecov]

Codecov Report

❌ Patch coverage is 43.90244% with 23 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp	43.90%	23 Missing ⚠️

Files with missing lines	Coverage Δ
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp	78.83% <43.90%> (-2.09%)	⬇️

... and 4 files with indirect coverage changes

🚀 New features to boost your workflow:

• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.