Use of get_safe

[fmrico]

Hi,

Use of the new NavState::get_safe<T>(key) method (EasyNavigation/EasyNavigation#109)

Best

[Copilot]

Pull request overview

This PR updates easynav_plugins to use the new NavState::get_safe<T>(key) accessor (from EasyNavigation/EasyNavigation#109), which returns values by copy while holding the internal mutex to avoid data races caused by get() returning an unsynchronized reference.

Changes:

• Replace nav_state.get<T>(...) with nav_state.get_safe<T>(...) for robot pose, path, goals, tolerances, and navigation state reads across planners/controllers.
• Exclude vendored include/bonxai/* headers from ament_cmake_uncrustify to avoid reformatting upstream code.
• Minor whitespace-only formatting adjustments in a unit test and a controller call site.

Reviewed changes

Copilot reviewed 10 out of 11 changed files in this pull request and generated 2 comments.

Show a summary per file

File	Description
planners/easynav_simple_planner/src/easynav_simple_planner/SimplePlanner.cpp	Switch robot pose read to get_safe() to avoid unsynchronized reference usage.
planners/easynav_navmap_planner/src/easynav_navmap_planner/AStarPlanner.cpp	Switch robot pose read to get_safe() in the A* planner update loop.
planners/easynav_costmap_planner/src/easynav_costmap_planner/CostmapPlanner.cpp	Switch robot pose read to get_safe() in costmap planner update loop.
maps_managers/easynav_bonxai_maps_manager/CMakeLists.txt	Exclude vendored bonxai headers from uncrustify during lint runs.
controllers/easynav_vff_controller/src/easynav_vff_controller/VffController.cpp	Use get_safe() for goals and robot pose to avoid concurrent-write races.
controllers/easynav_simple_controller/src/easynav_simple_controller/SimpleController.cpp	Use get_safe() for path/robot pose (note: currently does redundant get_safe() reads).
controllers/easynav_serest_controller/src/easynav_serest_controller/SerestController.cpp	Use get_safe() for required inputs and tolerances; minor formatting change.
controllers/easynav_regulated_pp_controller/tests/regulated_pp_controller_tests.cpp	Whitespace-only formatting changes in a test call.
controllers/easynav_regulated_pp_controller/src/easynav_regulated_pp_controller/RegulatedPurePursuitController.cpp	Use get_safe() for navigation state, path, pose, and tolerances.
controllers/easynav_mppi_controller/src/easynav_mppi_controller/MPPIController.cpp	Use get_safe() for navigation state, path, and robot pose.
controllers/easynav_mpc_controller/src/easynav_mpc_controller/MPCController.cpp	Use get_safe() for navigation state/path/pose (note: currently does redundant get_safe() reads).

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