The main change is to Templatize NavGridSubscriber so that it works with nav_2d_msgs::NavGridOfDoubles via nav_grid_pub_sub::NavGridOfDoublesSubscriber in addition to nav_2d_msgs::NavGridOfChars / nav_grid_pub_sub::NavGridSubscriber
Also fixes a bug in the non-trinary cost interpretation code that was causing inflated obstacles to be marked incorrectly.
NavGridSubscriberso that it works withnav_2d_msgs::NavGridOfDoublesvianav_grid_pub_sub::NavGridOfDoublesSubscriberin addition tonav_2d_msgs::NavGridOfChars / nav_grid_pub_sub::NavGridSubscriber