Set start and goal as float

[BriceRenaudeau]

• Create a worldToMapContinous to compute the decimals for the world to map conversion.
• Change the setGoal to use floats as inputs and static_cast to unsigned int's for the getIndex method.
• Do the same with setStart as well

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#3955 and #4249
Primary OS tested on	Ubuntu
Robotic platform tested on	sim
Does this PR contain AI generated software?	No

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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]

@BriceRenaudeau, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[BriceRenaudeau]

CI failure not related.

[SteveMacenski]

@BriceRenaudeau the first 2 failures seem related to this PR. I've never before seen those tests fail and they're targeting Smac

[BriceRenaudeau]

@BriceRenaudeau the first 2 failures seem related to this PR. I've never before seen those tests fail and they're targeting Smac

Le planner returns: "Start occupied" on the verySmallPath tests.

[mergify]

@BriceRenaudeau, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

Le planner returns: "Start occupied" on the verySmallPath tests.

Indeed - there are no failures of this kind before this PR. This must be causing it - CI still unhappy :(

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 89.78%. Comparing base (f815e8b) to head (50f387f).
Report is 3 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4255      +/-   ##
==========================================
+ Coverage   89.75%   89.78%   +0.03%     
==========================================
  Files         431      431              
  Lines       19574    19594      +20     
==========================================
+ Hits        17568    17593      +25     
+ Misses       2006     2001       -5     

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[SteveMacenski]

Wonderful!