Do not copy OccupancyGrid mask -> to Costmap2D in mask receiving callback. Directly store and use OccupancyGrid mask instead.

Basic Info

Description of contribution in a few bullet points

• Do not copy OccupancyGrid mask -> to Costmap2D. Directly store and use OccupancyGrid mask instead:

-  std::unique_ptr<Costmap2D> mask_costmap_;
+  nav_msgs::msg::OccupancyGrid::SharedPtr filter_mask_;

• Add new unsigned char CostmapFilter::getMaskCost(OccupancyGrid::SharedPtr filter_mask, & mx, & my) routine to CostmapFilter, which will convert OccupancyGrid values to Costmap2D ones; and will be called each time, when we need to update master costmap cell in the rolling window during KeepoutFilter::process()
• Other code to be changed to use OccupancyGrid instead of Costmap

Description of documentation updates required from your changes

• No documentation changed required

Additional notes

• This PR should be updated and merged after Fix mask coordinates calculation in worldToMask #3418 PR completion.

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