odom alpha restriction to avoid overflow caused by user-misconfiguration

[Cryst4L9527]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses
Primary OS tested on	Ubuntu
Robotic platform tested on	gazebo simulation of turtlebot

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Description of contribution in a few bullet points

When any of the alphas get a negative value, it was tested that the navigation may be crashed with overflow visiting sample->pose when running pf_update_resample().
It's possibly because the odometryUpdate() went wrong with some sqrt functions in it obtaining a negative input(which is a sum of alpha*positive value)

Description of documentation updates required from your changes

Add a check when getting the parameters in amcl_node.cpp, if any of them is negative, change it to zero and publish a warning.

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Future work that may be required in bullet points

• Maybe more checks during the update of odometry.

For Maintainers:

• Check that any new parameters added are updated in navigation.ros.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

[mergify]

@Cryst4L9527, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.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

[codecov]

Codecov Report

Base: 82.70% // Head: 82.60% // Decreases project coverage by -0.09% ⚠️

Coverage data is based on head (d639b1a) compared to base (a9b3a4b).
Patch coverage: 0.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3238      +/-   ##
==========================================
- Coverage   82.70%   82.60%   -0.10%     
==========================================
  Files         340      340              
  Lines       15395    15410      +15     
==========================================
- Hits        12732    12729       -3     
- Misses       2663     2681      +18     

Impacted Files	Coverage Δ
nav2_amcl/src/amcl_node.cpp	69.33% <0.00%> (-1.90%)	⬇️

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