Bringing back dynamic parameters: Amcl

[bpwilcox]

This is primarily a direct port of the callback (though refactored) for the ROS1 navigation reconfiugreCB.

Info	Please fill out this column
Ticket(s) this addresses	#956
Primary OS tested on	Ubuntu
Robotic platform tested on	tb3 waffle simulation

[SteveMacenski]

This also has the costmap stuff in it too.

Is there a way to update the parameters without resetting the filter? That makes it challenging to effectively tune.

[bpwilcox]

This also has the costmap stuff in it too.

Yes, sorry, I had intended to clean up these PRs, but hadn't. Maybe I can separate the PR adding the ParameterEventsSubscriber class to nav2_utils and then have these PRs for amcl and costmap be independent.

Is there a way to update the parameters without resetting the filter? That makes it challenging to effectively tune.

Well, firstly, this behavior matches the ROS1 behavior. I do think, however, we could check for if certain parameters have been changed that are relevant to resetting the filter, though.

[SteveMacenski]

Well I think the Costmap one can go in soon so I wouldn't go too far out of your way.

Maybe this is why I hated dynamic reconfigure... OK. I have no issue here then once the costmap stuff is backed out

[mjeronimo]

As we discussed in our meeting, we shouldn't recreate the thread on every parameter update. The parameter changes should only impact those resources that actually depend on their values. Should be more granular in the responses to parameter changes.

[bpwilcox]

Will address in another PR

[codecov]

Codecov Report

❗ No coverage uploaded for pull request base (master@7ddaaf4). Click here to learn what that means.
The diff coverage is 10.42%.

@@            Coverage Diff            @@
##             master    #1378   +/-   ##
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  Coverage          ?   25.27%           
=========================================
  Files             ?      235           
  Lines             ?    11504           
  Branches          ?     3714           
=========================================
  Hits              ?     2908           
  Misses            ?     6618           
  Partials          ?     1978

Flag	Coverage Δ
#project	25.27% <10.42%> (?)

Impacted Files	Coverage Δ
nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp	54.54% <ø> (ø)
...map_2d/include/nav2_costmap_2d/inflation_layer.hpp	82.75% <ø> (ø)
...tmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp	0% <ø> (ø)
...costmap_2d/include/nav2_costmap_2d/voxel_layer.hpp	0% <ø> (ø)
...tmap_2d/include/nav2_costmap_2d/obstacle_layer.hpp	100% <ø> (ø)
nav2_costmap_2d/plugins/voxel_layer.cpp	0.37% <0%> (ø)
nav2_costmap_2d/src/costmap_2d_ros.cpp	0% <0%> (ø)
nav2_costmap_2d/plugins/static_layer.cpp	31.21% <10%> (ø)
nav2_costmap_2d/src/layer.cpp	84% <100%> (ø)
nav2_util/src/parameter_events_subscriber.cpp	11.11% <11.11%> (ø)
... and 4 more

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