Add a min_obstacle_height param to the nav2_costmap_2d's ObstacleLaye…

[hyunseok-yang]

…r plugin (ros-navigation#3211) (ros-navigation#3215)

This allows considering full range observations, specified by the
.min_obstacle_height
and
.max_obstacle_height
especially used for the raytracing, but to still be able to specify a minimum obstacle height to report obstacles onto the costmap.

This is in particular required in the case a PointCloud2 source points slightly towards the ground, sometimes detecting obstacles, that should be cleared once the ground reappears behind the obstacle when it has moved away: we don't want to detect the ground as an obstacle, but still want it to be used in the raytracing to clear the previously detected obstacle.

(cherry picked from commit 0b4179b)

Co-authored-by: milidam milidam@users.noreply.github.com

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