Dynamic reconfigure for AMCL

[padhupradheep]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#956
Primary OS tested on	Ubuntu
Robotic platform tested on	TB3-Simulation

I'm really not sure, if I'm doing justice to the Mutex.. @SteveMacenski
I gave it a test and seems to work fine though... I will take a look once again, before I make this PR to be a "ready for review"

[mergify]

@padhupradheep, please properly fill in PR template in the future. @SteveMacenski, use this instead.

• Check that any new parameters added are updated in navigation.ros.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists

[SteveMacenski]

In terms of the actual function, it looks good except where noted!

However, AMCL has alot of objects that use these parameters that will need to be reinitialized / reset / new values given to it. Simply setting the variable in the callback doesn't make it used in the actual node, most, if not all, of these parameters are passed to other objects for use in the node which aren't going to be affected by the current PR. You can see some examples of that in the Smac Planner dynamic reconfiguration callback & should probably look at the AMCL code closer about where each parameter is used so that you can update the appropriate objects / re-instantiate them.

[SteveMacenski]

Really good, much better actually than what I had in mind if I did it, kudos!

[doisyg]

Overall looks good, left 2 potential improvements and a question for debate

[SteveMacenski]

Toggling to get CI to turn over

[padhupradheep]

Thanks for the feedback @doisyg

[mergify]

@padhupradheep, your PR has failed to build. Please check CI outputs and resolve issues.
You may need to rebase or pull in main due to API changes (or your contribution genuinely fails).

[SteveMacenski]

Looks good! Thanks for taking this on, and that's a wrap folks, we have dynamic parameter support across the stack now!

[doisyg]

Amazing!
(and to continue and the subject, we may open soon an issue with @anaelle-sw about a potential race condition in the way dyn parameters are implemented in plugins when using "on new parameter" event, but that's for another day)