Fix max path cycles for case where map has larger Y dimension than X dimension (#2017)

* Fix max path cycles for case where map has larger Y dimension than X dimension

* Improve readability

* fix ament_cpplint and ament_uncrustify issues

nav2_navfn_planner/src/navfn_planner.cpp

@@ -320,7 +320,10 @@ NavfnPlanner::getPlanFromPotential(
 
   planner_->setStart(map_goal);
 
-  int path_len = planner_->calcPath(costmap_->getSizeInCellsX() * 4);
+  const int & max_cycles = (costmap_->getSizeInCellsX() >= costmap_->getSizeInCellsY()) ?
+    (costmap_->getSizeInCellsX() * 4) : (costmap_->getSizeInCellsY() * 4);
+
+  int path_len = planner_->calcPath(max_cycles);
   if (path_len == 0) {
     return false;
   }