SmacPlanner2D logs misleading inflation-layer error on startup #6380

Bug report

Required Info:

When using nav2_smac_planner::SmacPlanner2D on Jazzy, planner_server logs:

Inflation layer either not found or inflation is not set sufficiently for optimized non-circular collision checking capabilities. It is HIGHLY recommended to set the inflation radius to be at MINIMUM half of the robot's largest cross-section...

• ROS 2 distro: Jazzy
• Navigation2 version: 1.4.0
• Planner plugin: nav2_smac_planner::SmacPlanner2D
• Costmap plugin: nav2_costmap_2d::InflationLayer

On startup, planner_server emits the inflation-layer error. Removing SmacPlanner2D from planner_plugins makes the warning disappear.

Runtime parameter inspection shows the inflation layer is present and configured with a big enough radius.

Steps to reproduce issue

Happens at startup

Expected behavior

SmacPlanner2D should not log an inflation-layer misconfiguration error when the warning condition is not relevant to its 2D radius-based collision checking mode.

Actual behavior

Additional information

I think it stems from the collision checker initializing like

_collision_checker.setFootprint(
  costmap_ros->getRobotFootprint(),  true,  0.0 );

but GridCollisionChecker::setFootprint warns if

possible_collision_cost_ <= 0.0f