Add boost padding

[renan028]

Use boost library to compute correct polyline offset.
When we use footprint_padding of 0.06 (6cm), for instance, the old behavior adds around 2cm only, and the polygon is distorted:

After changing to boost:

[vsamy]

Last time I did this it was working fine

https://github.com/rapyuta-robotics/rr_perception/blob/devel/experimental%2Frr_pcl_ros%2Fsrc%2Ffootprint_cropper.cpp#L291-L291

Do we need a new dependency just for polygon inflation?

[renan028]

Last time I did this it was working fine

https://github.com/rapyuta-robotics/rr_perception/blob/devel/experimental%2Frr_pcl_ros%2Fsrc%2Ffootprint_cropper.cpp#L291-L291

Do we need a new dependency just for polygon inflation?

I have checked some solutions like the one you proposed, but they all have some corner cases missing.
Usually when working with concave polygons, or when padding is large it degenerates.
I will try to use boost geometry, maybe there is something available there.

The library is very known though, with ~500 stars. And it looks more complete than boost. Maybe we can replace boost geometry in Nav by this one, if boost cannot handle the case.

[renan028]

yes, boost looks pretty good:

I will update the PR with it.

And I can control to have sharp edges: