Re-enable runtime configuration of key parameters

Feature request

Feature description

The lifecycle changes disabled all runtime reconfiguration of parameters. However, certain key parameters need to be dynamically adjusted to allow users to easily tune the stack for their use cases.

These key parameters need to be identified and support added to make them changeable while in the active state.

[bpwilcox]

Here is a class diagram I am proposing to address support for dynamic parameters in the stack.

[bpwilcox]

ros2/rclcpp#829 submitted to add additional support for parameter event subscriptions for dynamic parameter callbacks

[SteveMacenski]

Major TODO list (tunable behaviors / algorithms)

• DWB
• costmap layers (voxel, inflation, obstacle, range, static)
• costmap_2d Add dynamic parameters do Costmap2DROS #2592 (review)
• navfn [NavFn] Make the 3 parameters changeable at runtime #2181
• Theta* planner Add support for reconfiguring params using GUI in ThetaStarPlanner #2665
• smac planner 2D [SmacPlanner2D] make tolerance parameter dynamic #2475
• smac planner Hybrid Enabled runtime configuration of parameters for Hybrid A* #2540
• smac planner Lattice State Lattice Planner Work Revival #2582
• amcl
• regulated pure pursuit adding dynamic params to RPP and cleaningup style in others #2607
• Goal checkers
• Progress checkers

Minor TODO list (lower impact, unlikely to be actually needed to change for tuning)

• waypoint follower adding dynamic parameters support for controller, planner, and waypoint servers #2704
• BT navigator all parameters are integral on initialization for the behavior tree, no promise that user-driven plugins would accept / be aware of changes. These are all static set frames and libraries that would not change at runtime safely
• lifecycle manager safety shouldn't allow this, and all params are integral on initialization
• planner server adding dynamic parameters support for controller, planner, and waypoint servers #2704
• controller server adding dynamic parameters support for controller, planner, and waypoint servers #2704
• map server All parameters are overridable in the actual service requests to load / save so no need to overload defaults in dynamic parameters