[static_layer] limit comparison precision

[doisyg]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	(add tickets here #1)
Primary OS tested on	Ubuntu
Robotic platform tested on	Dexory robot
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

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Description of contribution in a few bullet points

Related to #5398

When a static layer detects a change of size, resolution or origin, it triggers a resize of the underlying master costmap which deletes all the costmap values of other layers.
However because the detection change is done with an inequality on float numbers, resize can be triggered for non significant changes (like due to different trailing numbers between double and float, or slightly different values loaded from a map yaml). Hence an update of one layer could effectively delete the data of all other layers.

This PR modifies the resize trigger to happen only for changes of resolution and origin bigger than EPSILON. Setting EPSILON to 1mm to be consistent with the map saving origin and resolution accuracy. But this value can be discussed. In practice 1e-6 works well (10x higher than the float smallest increment around 1.0).

Description of documentation updates required from your changes

Description of how this change was tested

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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
• Should this be backported to current distributions? If so, tag with backport-*.

[SteveMacenski]

How about 1e-5, I think 0.01 mm is good in practice. Anything lower than that isn't consequential. I usually use 1e-6 generically for epsilon values, so I'm happy with either. I don't think 1e-3 is enough though

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

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	74.31% <100.00%> (+0.85%)	⬆️

... and 310 files with indirect coverage changes

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

[doisyg]

How about 1e-5

Deal