Radar sectors not clearing ocasionally

[CaptKrasno]

Occasionally, radar sectors won't clear causing targets to "smear" over time. Probably there is something going wrong in this section of code:

echoflow/echoflow/src/radar_grid_map_node.cpp

Lines 242 to 268 in b2f506c

	grid_map::Polygon sector_polygon;
	// Build triangle vertices
	{
	grid_map::Position p0(transform.transform.translation.x, transform.transform.translation.y);
	double left_angle = msg->angle_start + yaw;
	double right_angle = msg->angle_start + (msg->intensities.size() - 1) * msg->angle_increment + yaw;
	double max_range = msg->range_max*1.3;
	grid_map::Position p1(
	transform.transform.translation.x + max_range * std::cos(left_angle),
	transform.transform.translation.y + max_range * std::sin(left_angle));
	grid_map::Position p2(
	transform.transform.translation.x + max_range * std::cos(right_angle),
	transform.transform.translation.y + max_range * std::sin(right_angle));
	sector_polygon.addVertex(p0);
	sector_polygon.addVertex(p1);
	sector_polygon.addVertex(p2);
	}
	// Iterate over all cells in the polygon and clear them
	for (grid_map::PolygonIterator it(*map_ptr_, sector_polygon); !it.isPastEnd(); ++it) {
	map_ptr_->at("intensity", *it) = NAN;
	}

Either find the bug or find another efficient and reliable way to clear the sectors.

@antonellla keep an eye out for it as you work on the other projects (please screenshot and attach here if you catch it I didn't think to in the moment).

-Kris

[CaptKrasno]

Caught this in action. Here's a screenshot