Improve KeepoutFilter mask receiving performance

[AlexeyMerzlyakov]

Do not copy OccupancyGrid mask -> to Costmap2D in mask receiving callback. Directly store and use OccupancyGrid mask instead.

---

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3419
Primary OS tested on	Ubuntu 22.04
Robotic platform tested on	TB3 simulation, colcon test, local code coverage

---

Description of contribution in a few bullet points

• Do not copy OccupancyGrid mask -> to Costmap2D. Directly store and use OccupancyGrid mask instead:

-  std::unique_ptr<Costmap2D> mask_costmap_;
+  nav_msgs::msg::OccupancyGrid::SharedPtr filter_mask_;

• Add new unsigned char CostmapFilter::getMaskCost(OccupancyGrid::SharedPtr filter_mask, & mx, & my) routine to CostmapFilter, which will convert OccupancyGrid values to Costmap2D ones; and will be called each time, when we need to update master costmap cell in the rolling window during KeepoutFilter::process()
• Other code to be changed to use OccupancyGrid instead of Costmap

Description of documentation updates required from your changes

• No documentation changed required

---

Additional notes

• This PR should be updated and merged after Fix mask coordinates calculation in worldToMask #3418 PR completion.

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]

This pull request is in conflict. Could you fix it @AlexeyMerzlyakov?