More Utility Functions - Githubissues

getOrigin function for NavGridInfo objects that return a pose for where the origin of the grid is.
Additional helpful methods for nav_core2::Bounds objects including
- contains(x, y)
- overlaps(Bounds)
- == and != operators
Fix bug with empty UIntBounds
Utility method for converting UIntBounds into multiple smaller UIntBounds covering the same area.

locusrobotics / robot_navigation