Use the new declare_or_get_parameter API for nav2_costmap_2d

[leander-dsouza]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#5299
Primary OS tested on	Ubuntu
Robotic platform tested on	N/A
Does this PR contain AI-generated software?	No
Was this PR description generated by AI software?	N/A

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Description of contribution in a few bullet points

• Migrated the get_parameter and declare_parameter fields to use the new declare_or_get_parameter API for nav2_costmap_2d.
• Partially migrated the parameters in costmap_2d_ros.cpp, as the test setup requires these parameters to be declared in the init() function.
• Removed redundant set_parameter() calls in the tests that are followed by declare_parameter calls.

Description of documentation updates required from your changes

• N/A

Description of how this change was tested

• Performed linting validation using pre-commit run --all and testing locally using colcon test

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Future work that may be required in bullet points

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.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
• Should this be backported to current distributions? If so, tag with backport-*.

[leander-dsouza]

Should I replace the Layer's declareParameter() calls as well?

I have tried replacing all node->get_parameter() calls that precede declareParameter() with node->declare_or_get_parameter(), and all the tests pass locally.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_costmap_2d/plugins/plugin_container_layer.cpp	98.76% <100.00%> (-0.08%)	⬇️
nav2_costmap_2d/src/costmap_2d_ros.cpp	86.41% <100.00%> (-0.93%)	⬇️

... and 23 files with indirect coverage changes

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[SteveMacenski]

How do you think we should migrate the remaining declares in the costmap 2D ROS node so that we have them consistent?

Also, should we also look at the layers?

Sorry for the delay, I was out for ROSCon and then a short vacation afterwards. I'm back this week :-)

[mini-1235]

@leander-dsouza any updates?

[mini-1235]

Hi @leander-dsouza, I'll take over this since there hasn't been any recent activity. Thanks a lot for your effort here!