Use the new declare_or_get_parameter API for nav2_costmap_2d

[mini-1235]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Supersedes #5659 Partially fixes ##5299
Primary OS tested on	(Ubuntu, MacOS, Windows)
Robotic platform tested on	(Steve's Robot, gazebo simulation of Tally, hardware turtlebot)
Does this PR contain AI generated software?	(No; Yes and it is marked inline in the code)
Was this PR description generated by AI software?	Out of respect for maintainers, AI for human-to-human communications are banned

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Description of contribution in a few bullet points

Description of documentation updates required from your changes

Description of how this change was tested

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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-*.

[mini-1235]

I am moving a few parameters from costmap2dros to the static layer, since that's the only place they are actually used, do you agree with me

[SteveMacenski]

I'd keep them global - seems silly to make people migrate these parameters if we don't have to.

[SteveMacenski]

^ Something like this could possibly cause other packages' tests to fail if the config files weren't updated respectively. I think its best to leave this alone.

[mini-1235]

Ok, will revert

[mini-1235]

Wow, I didn't realize that a lot of tests are failing in other packages. I'll take a look

[mini-1235]

The test updates are mostly due to moving declare_parameter from the constructor to on_configure

I can also spend ~10 mins updating stvl + npvl tomorrow

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_costmap_2d/include/nav2_costmap_2d/layer.hpp	100.00% <ø> (ø)
...stmap_2d/plugins/costmap_filters/binary_filter.cpp	94.52% <100.00%> (-0.15%)	⬇️
...tmap_2d/plugins/costmap_filters/costmap_filter.cpp	87.69% <100.00%> (-0.37%)	⬇️
...tmap_2d/plugins/costmap_filters/keepout_filter.cpp	77.69% <100.00%> (-0.16%)	⬇️
...ostmap_2d/plugins/costmap_filters/speed_filter.cpp	95.12% <100.00%> (ø)
nav2_costmap_2d/plugins/denoise_layer.cpp	95.77% <100.00%> (-0.33%)	⬇️
nav2_costmap_2d/plugins/inflation_layer.cpp	88.11% <100.00%> (-11.40%)	⬇️
nav2_costmap_2d/plugins/obstacle_layer.cpp	79.93% <100.00%> (-1.74%)	⬇️
nav2_costmap_2d/plugins/plugin_container_layer.cpp	85.18% <100.00%> (-13.70%)	⬇️
nav2_costmap_2d/plugins/range_sensor_layer.cpp	78.36% <100.00%> (-0.51%)	⬇️
... and 4 more

... and 12 files with indirect coverage changes

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[SteveMacenski]

Thanks - I wish STVL was under better licensing so I could just pull it into Nav2 -_-

But, I don't have control over that - that was my ex-company's choice

[mini-1235]

STVL: SteveMacenski/spatio_temporal_voxel_layer#350

For NPVL: I don't really see the declare or get pattern there, so I didn't update it