Redesign dynamic parameters patterns for opennav_docking, mppi_controller and theta_star

[mini-1235]

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Basic Info

Info	Please fill out this column
Ticket(s) this addresses	#4907
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-*.

[codecov]

Codecov Report

❌ Patch coverage is 98.23789% with 4 lines in your changes missing coverage. Please review.

Files with missing lines	Patch %	Lines
...av2_docking/opennav_docking/src/docking_server.cpp	95.12%	2 Missing ⚠️
nav2_theta_star_planner/src/parameter_handler.cpp	96.55%	2 Missing ⚠️

Files with missing lines	Coverage Δ
...docking/include/opennav_docking/docking_server.hpp	100.00% <ø> (ø)
nav2_docking/opennav_docking/src/controller.cpp	100.00% <100.00%> (ø)
nav2_docking/opennav_docking/src/dock_database.cpp	100.00% <100.00%> (ø)
..._docking/opennav_docking/src/parameter_handler.cpp	100.00% <100.00%> (ø)
.../nav2_mppi_controller/tools/parameters_handler.hpp	95.45% <100.00%> (-0.11%)	⬇️
nav2_mppi_controller/src/critics/cost_critic.cpp	84.21% <ø> (ø)
nav2_mppi_controller/src/parameters_handler.cpp	100.00% <100.00%> (ø)
...ner/include/nav2_theta_star_planner/theta_star.hpp	96.66% <100.00%> (+0.11%)	⬆️
nav2_theta_star_planner/src/theta_star.cpp	96.52% <100.00%> (-1.44%)	⬇️
nav2_theta_star_planner/src/theta_star_planner.cpp	91.66% <100.00%> (-0.96%)	⬇️
... and 2 more

... and 8 files with indirect coverage changes

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[SteveMacenski]

MPPI's my only question