Change default AMCL params

[nahueespinosa]

Proposed changes

This is a minor patch to make default params match the navigation AMCL values in ROS 1 and ROS 2. This is convenient for users migrating from the AMCL node provided by the navigation stack, if they define a parameter file that does not mention all parameters, they can expect the behavior to match that of the navigation AMCL node.

Type of change

• 🐛 Bugfix (change which fixes an issue)
• 🚀 Feature (change which adds functionality)
• 📚 Documentation (change which fixes or extends documentation)

Checklist

• Lint and unit tests (if any) pass locally with my changes
• I have added tests that prove my fix is effective or that my feature works
• I have added necessary documentation (if appropriate)
• All commits have been signed for DCO

[hidmic]

It looks like some tests in ROS Noetic depended on some of those defaults:

  2: /__w/beluga/beluga/src/beluga/beluga_amcl/test/test_amcl_nodelet.cpp:508
  2: The difference between pose.translation().x() and 34.0 is 20.325032882519601, which exceeds 0.01, where
  2: pose.translation().x() evaluates to 13.674967117480399,
  2: 34.0 evaluates to 34, and
  2: 0.01 evaluates to 0.01.
  2: --------------------------------------------------------------------------------
  2: 
  2: [beluga_amcl.rosunit-test_amcl_nodelet/KeepCurrentEstimate][FAILURE]------------
  2: /__w/beluga/beluga/src/beluga/beluga_amcl/test/test_amcl_nodelet.cpp:573
  2: The difference between pose.translation().x() and 34.0 is 27.981814692932971, which exceeds 0.01, where
  2: pose.translation().x() evaluates to 6.0181853070670295,
  2: 34.0 evaluates to 34, and
  2: 0.01 evaluates to 0.01.
  2: --------------------------------------------------------------------------------

[nahueespinosa]

@hidmic It seems that if we set use_map_topic to false by default, we can't change that after initialization, so tests would have to be written differently. For the sake of simplicity, I'll keep it true for this PR and come back to it later (or never honestly).

[nahueespinosa]

@hidmic @serraramiro1 @glpuga @ivanpauno Based on our discussion, I will create a compatibility mode ticket. While we work on that, I think it doesn't hurt to land this.

[hidmic]

While we work on that, I think it doesn't hurt to land this.

Agreed.

[serraramiro1]

🚀 LGTM!

[hidmic]

LGTM too