Implement Predictive Inflation Layer Plugin #1
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- Implements `PredictiveInflationLayer` extending `InflationLayer`. - Adds directional cost modulation based on robot heading (Forward/Side/Rear weights). - Adds speed-dependent inflation scaling. - Implements "Max-Radius" expansion strategy for safe bounding box updates. - Registers plugin in `costmap_plugins.xml`. - Adds unit tests covering directional logic, expansion, and backward compatibility.
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PredictiveInflationLayerextendingInflationLayer.costmap_plugins.xml.