Fix seg fault

[tonynajjar]

The nav2_smac_planner lattice planner was crashing with a segmentation fault in inCollision. The crash occurred when accessing oriented_footprints_[angle_bin] with an out-of-bounds index.

The issue stems from improper angle normalization when converting from radians to collision checker angle bins. When a motion primitive angle equals exactly 2π radians (or 6.283185), the conversion angle / bin_size results in angle_bin = 72.0 which is out of bounds for a 72-element array (valid indices: 0-71).

[SteveMacenski]

That's very strange that I nor others have run into this. Can you just fix the CI linting jobs? Happy to merge then :-)

Lines should be <= 100 characters long

[tonynajjar]

That's very strange that I nor others have run into this

Yeah I only started seeing it after I used a state lattice minimum control set graph with this config:

"motion_model": "diff",
"turning_radius": 0.1,
"grid_resolution": 0.05,
"stopping_threshold": 5,
"num_of_headings": 16,

Probably has to do with the small turning radius but I didn't look any further

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_smac_planner/src/node_lattice.cpp	90.94% <100.00%> (+0.03%)	⬆️

... and 2 files with indirect coverage changes

🚀 New features to boost your workflow:

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

[tonynajjar]

I will take the honor and satisfaction of pressing the nice green button this time