Fix std::bad_alloc

[fmrico]

Hi,

This PR fixes a dangling tf_info reference in async map-topic callbacks. RTTFBuffer::get_tf_info() returns TFInfo by value (a locked snapshot copy). Several on_initialize() methods did:

const auto & tf_info = RTTFBuffer::getInstance()->get_tf_info();  // binds to a temporary
...
incoming_map_sub_ = node->create_subscription<...>(..., [&](...) {
  ... tf_info.map_frame ...   // captured by reference
});

Temporary lifetime extension only keeps the temporary alive until tf_info itself goes out of scope, i.e. until on_initialize() returns. The subscription lambda captures tf_info by reference ([&]) and is invoked later, after that scope has ended, so tf_info is dangling by the time a message arrives. Reading tf_info.map_frame then interprets freed memory as a std::string, producing a garbage size and an operator new call that throws std::bad_alloc.

To fix it, inside each async callback, fetch a fresh snapshot at the point of use (RTTFBuffer::getInstance()->get_tf_info().map_frame) instead of reusing the captured reference. Synchronous uses of tf_info within on_initialize()'s own scope are untouched as those are safe.

This bug affected to :

• easynav_costmap_maps_manager — CostmapMapsManager.cpp
• easynav_simple_maps_manager — SimpleMapsManager.cpp
• easynav_navmap_maps_manager — NavMapMapsManager.cpp (two callbacks: incoming_occ_map, incoming_pc2_map)
• easynav_octomap_maps_manager — OctomapMapsManager.cpp (incoming_pc2_map; also dropped the now-unused outer tf_info local)

[Copilot]

Pull request overview

This PR fixes a use-after-scope bug in multiple map manager plugins where async subscription callbacks captured a const auto& tf_info bound to a temporary returned by RTTFBuffer::get_tf_info() (by value), leading to dangling std::string reads and std::bad_alloc at runtime.

Changes:

• Replaced async-callback uses of tf_info.map_frame with fresh per-callback snapshot reads via RTTFBuffer::getInstance()->get_tf_info().map_frame.
• Removed the now-unused outer tf_info reference in OctomapMapsManager and updated TF lookup / message header assignment accordingly.
• Kept synchronous (in-scope) uses of tf_info inside on_initialize() unchanged.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated no comments.

File	Description
maps_managers/easynav_simple_maps_manager/src/easynav_simple_maps_manager/SimpleMapsManager.cpp	Avoids capturing a dangling tf_info in the incoming map subscription callback by fetching map_frame at point of use.
maps_managers/easynav_octomap_maps_manager/src/easynav_octomap_maps_manager/OctomapMapsManager.cpp	Removes outer tf_info reference and fetches map_frame inside the PointCloud2 callback for TF lookup and message headers.
maps_managers/easynav_navmap_maps_manager/src/easynav_navmap_maps_manager/NavMapMapsManager.cpp	Fixes two async callbacks to use a fresh map_frame snapshot instead of a captured temporary reference.
maps_managers/easynav_costmap_maps_manager/src/easynav_costmap_maps_manager/CostmapMapsManager.cpp	Fixes the incoming map subscription callback to read map_frame from a fresh get_tf_info() snapshot.

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