3732 costmap raw update msgs rebased (fixes github issues with PR ros…

…-navigation#3948) (ros-navigation#3965)

* Adding CostmapUpdate msg

* CostmapRawUpdate Publisher

* remove test logs and typos

* change data type to uint8

* pass unique ptr to raw costmap update publisher

* adding subsriber for updates

* -Werror=type-limits for update lower bounds checking

* copy update msg

* change code formatting

* adding lock guards on costmap in footprint_collision_checker.cpp

* adding lock guards for costmap subscriber clients

* review suggestions implementation

* fixing gtests errors

* changes after second round of review

* Update nav2_msgs/msg/CostmapUpdate.msg

Co-authored-by: Steve Macenski <[email protected]>

* Integration test for costmap subscriber draft

* Change the current grid parameters in separate method

* WIP int test

* adding method in PublisherCostmap2D for OccupancyGridUpdate population

* test full costmap and updates while generating results

* Integration tests for subscribers

* Expected number of msgs related to number of mapchanges in tests

* next round of reviews

* refactor names of Costmap2DPublisher

* remove unnecessary costmap_received_ flag form CostmapSubscriber

---------

Co-authored-by: Steve Macenski <[email protected]>

nav2_costmap_2d/test/integration/CMakeLists.txt

@@ -63,6 +63,17 @@ target_link_libraries(test_costmap_subscriber_exec
     ${PROJECT_NAME}::nav2_costmap_2d_client
 )
 
+ament_add_gtest_executable(test_costmap_subscriber_exec
+test_costmap_subscriber.cpp
+)
+ament_target_dependencies(test_costmap_subscriber_exec
+    ${dependencies}
+)
+target_link_libraries(test_costmap_subscriber_exec
+    nav2_costmap_2d_core
+    nav2_costmap_2d_client
+)
+
 ament_add_test(test_collision_checker
   GENERATE_RESULT_FOR_RETURN_CODE_ZERO
   COMMAND "${CMAKE_CURRENT_SOURCE_DIR}/costmap_tests_launch.py"