Use declare_or_get_param API

[elsayedelsheikh]

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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	Gazebo
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Related to #5299
Use declare_or_get_param API instead of declare_parameter - get_parameter

Target packages:

• nav2_amcl

Description of documentation updates required from your changes

Nothing

Description of how this change was tested

• Unit tests

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Future work that may be required in bullet points

Nothing

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-*.

[elsayedelsheikh]

@SteveMacenski
if this is looking good, LMK to continue 👍

[elsayedelsheikh]

If you have time, Can you give me a green flag to continue working on this PR if it's up to what you're expecting or/ if there are any things to consider? This should be straight forward right?! :) @SteveMacenski

[SteveMacenski]

Yes! This looks like a good direction to me.

[SteveMacenski]

I think this makes sense to break up into a few pull requests. Maybe 1-2 packages per PR so that these are small and bite sized for review. 1 massive PR is going to be near impossible to review. If you start a checklist in the ticket, when you open a PR for a package, you can check that off and link the PR so we can keep track of it.

I think we should just have a "final check" box for both of us going over the code semi-manually and checking for any stragglers or other similar get/declare parameter workflows we can use to increase code quality! :-)

[SteveMacenski]

@elsayedelsheikh some hundreds of tests are failing from this change

[elsayedelsheikh]

@SteveMacenski Ready to merge! 😀

[SteveMacenski]

@elsayedelsheikh did you do this with AI? If so, please check closely that these default values are all the same as before. If you did manually, just do a once over. This is alot to check and error prone on my side

[elsayedelsheikh]

@elsayedelsheikh did you do this with AI? If so, please check closely that these default values are all the same as before. If you did manually, just do a once over. This is alot to check and error prone on my side

It was manual. I checked again and the values are the same 💯 We are good here!