ros-planning/navigation — pull request #263 by artivis (2014-10-22 14:33:13+00:00)
Title: prevent div by zero in raytraceLine

While mapping a polygon from world to map with costmap_2d woldToMap it might happen that two consecutive points end-up with the same coordinates, transforming a segment into a single point.
Then calling polygonOutlineCells calls raytraceLine which raises a signal Floating point exception -> floating point divide by zero.