fix: arm_obstacle_navigation calc_heuristic_map node through 4 corner… #2618

	name: "Code scanning - action"

	on:
	push:
	branches:
	- master
	pull_request:
	schedule:
	- cron: '0 19 * * 0'

	jobs:
	CodeQL-Build:

	# CodeQL runs on ubuntu-latest and windows-latest
	runs-on: ubuntu-latest

	steps:
	- name: Checkout repository
	uses: actions/checkout@v4
	with:
	# We must fetch at least the immediate parents so that if this is
	# a pull request then we can checkout the head.
	fetch-depth: 2

	# Initializes the CodeQL tools for scanning.
	- name: Initialize CodeQL
	uses: github/codeql-action/init@v3
	with:
	config-file: ./.github/codeql/codeql-config.yml
	# Override language selection by uncommenting this and choosing your languages
	# with:
	# languages: go, javascript, csharp, python, cpp, java

	# Autobuild attempts to build any compiled languages (C/C++, C#, or Java).
	# If this step fails, then you should remove it and run the build manually (see below)
	- name: Autobuild
	uses: github/codeql-action/autobuild@v3

	# ℹ️ Command-line programs to run using the OS shell.
	# 📚 https://git.io/JvXDl

	# ✏️ If the Autobuild fails above, remove it and uncomment the following three lines
	# and modify them (or add more) to build your code if your project
	# uses a compiled language

	#- run: \|
	# make bootstrap
	# make release

	- name: Perform CodeQL Analysis
	uses: github/codeql-action/analyze@v3

Provide feedback