Change servo collision checking parameters to dynamically update

[sea-bass]

In this PR, we change the MoveIt servo parameter listener to be a shared pointer so we can listen to servo parameters in the main servo class, as well as the servo calculations and collision checking classes.

This, in turn, allows for collision checking parameters to dynamically be updated!

To test, you can directly change parameters in the servo node as follows, for example:

ros2 param set /servo_server moveit_servo.self_collision_proximity_threshold 0.1
ros2 param set /servo_server moveit_servo.check_collisions False

Closes #2178

[codecov]

Codecov Report

Patch coverage: 88.10% and no project coverage change.

Comparison is base (243b0b2) 50.54% compared to head (cff200b) 50.53%.

❗ Current head cff200b differs from pull request most recent head 4b9bf50. Consider uploading reports for the commit 4b9bf50 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2183      +/-   ##
==========================================
- Coverage   50.54%   50.53%   -0.00%     
==========================================
  Files         387      387              
  Lines       31719    31725       +6     
==========================================
+ Hits        16028    16029       +1     
- Misses      15691    15696       +5     

Impacted Files	Coverage Δ
...oveit_servo/include/moveit_servo/collision_check.h	100.00% <ø> (ø)
moveit_ros/moveit_servo/src/collision_check.cpp	85.08% <85.30%> (-0.63%)	⬇️
moveit_ros/moveit_servo/src/servo.cpp	57.15% <100.00%> (+3.30%)	⬆️
moveit_ros/moveit_servo/src/servo_calcs.cpp	70.27% <100.00%> (ø)

... and 2 files with indirect coverage changes

☔ View full report in Codecov by Sentry.
📢 Do you have feedback about the report comment? Let us know in this issue.

[tylerjw]

I went and looked at parameter updating and found this variable in the config that controls if it ever checks for updated parameters in the main loop: enable_parameter_update. Why was this done? Shouldn't we allow users to set any parameter? If we want to have this behavior, should the collision checking code also pay attention to this too?

[sea-bass]

I went and looked at parameter updating and found this variable in the config that controls if it ever checks for updated parameters in the main loop: enable_parameter_update. Why was this done? Shouldn't we allow users to set any parameter? If we want to have this behavior, should the collision checking code also pay attention to this too?

The collision checking code should pay attention to it -- tagged you in a separate comment.

The parameter itself was done to copy how the admittance controller was set up: if this param is false, the servo loop will never update its internal parameters as a way of "locking" the system configuration. But if true, it will allow runtime changes.

In the big PR that switched servo to generate_parameter_library, the dynamic updates only happened in ServoCalcs, but not in CollisionChecking

[AndyZe]

I'd be happy to get rid of enable_parameter_update. It's not like somebody accidentally updates a ROS parameter. They usually know what they're doing ;)