Fix busy wait for TFs and NaN

[fmrico]

Hi,

I have detected two problems:

1. LookUpTransform stops twice the RT cycle for 100ms. Now it is fixed and it doesn't wait for TFs.
2. Some tries to limit when NaN appears.

@midemig , I would like to have your OK before merging, as you are the father of this creature ;)

[Copilot]

Pull request overview

This PR addresses real-time latency and stability issues in the fusion localizer by eliminating TF lookup blocking in the RT execution path and adding recovery/guardrails when the filter output becomes invalid (NaN) or when GeographicLib UTM conversions throw.

Changes:

• Hard-code TF lookup timeout to zero in UkfWrapper (and remove the corresponding example YAML params) to prevent RT-thread blocking on TF availability.
• Validate UKF output before broadcasting/publishing; if NaNs are detected, reset the filter to recover instead of continuously emitting invalid TF.
• Catch and throttle-log GeographicLib::GeographicErr exceptions during GPS->UTM conversion and estimate->NavSatFix re-projection to avoid crashing system_main.

Reviewed changes

Copilot reviewed 4 out of 4 changed files in this pull request and generated 1 comment.

File	Description
localizers/easynav_fusion_localizer/src/easynav_fusion_localizer/ukf_wrapper.cpp	Removes TF prefix re-prefixing, hard-codes TF timeout to 0 to avoid RT blocking, and resets filter on NaN output before side effects.
localizers/easynav_fusion_localizer/src/easynav_fusion_localizer/FusionLocalizer.cpp	Adds exception handling for GeographicLib UTM projection steps to prevent process crashes.
localizers/easynav_fusion_localizer/config/example_params_summit_dual.yaml	Removes transform_timeout from example params to match hard-coded behavior.
localizers/easynav_fusion_localizer/config/example_params_summit_dual_gazebo.yaml	Removes transform_timeout from example params to match hard-coded behavior.

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