map-size restriction to avoid overflow and nullptr caused by user-misconfiguration

[Cryst4L9527]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3231
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)

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Description of contribution in a few bullet points

solve #3231, #3232, #3234, #3235.
With a negative width of map,
getindex() function like my*size_x_+mx in many place will get a wrong negative index and cause overflow when visiting the array with this index.
getSizeInCellsX() will return a negative value , makes cached_distances_ has a size of zero, then throw a nullptr visiting problem when running distanceLookup().

#3233 is caused by laser_likelihood_max_dist < 0, which seems to be solved by some commits before.
So now the issue #3231 can be closed.

Description of documentation updates required from your changes

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Future work that may be required in bullet points

Maybe more checks when visit the arrays and resize queues.

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: 82.62% // Head: 82.57% // Decreases project coverage by -0.04% ⚠️

Coverage data is based on head (44c7dbf) compared to base (c5de9b9).
Patch coverage: 40.00% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3242      +/-   ##
==========================================
- Coverage   82.62%   82.57%   -0.05%     
==========================================
  Files         340      340              
  Lines       15410    15418       +8     
==========================================
- Hits        12732    12731       -1     
- Misses       2678     2687       +9     

Impacted Files	Coverage Δ
nav2_costmap_2d/src/costmap_2d_ros.cpp	84.54% <40.00%> (-1.55%)	⬇️
...stmap_2d/plugins/costmap_filters/binary_filter.cpp	94.80% <0.00%> (-2.60%)	⬇️
..._amcl/src/sensors/laser/likelihood_field_model.cpp	95.00% <0.00%> (-2.50%)	⬇️

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[SteveMacenski]

Thanks!