Pass node options to costmap node

[MarcoMatteoBassa]

Basic Info

Info	Please fill out this column
Primary OS tested on	Ubuntu
Robotic platform tested on	Simulation
Does this PR contain AI generated software?	No

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Description of contribution in a few bullet points

Currently it is impossible to remap the publishers and subscribers of the costmap objects, because the node options of the controller server are not passed to the child node.
The change allows the child costmap node to inherit the node options of the parent, while still using customized options for the name, namespace and use_sim_time.

Description of how this change was tested

• verified that the costmap nodes retain the expected name and namespace
• verified that the costmap topics retain the expected name and namespace
• verified that the costmap services retain the expected name and namespace
• verified that it's possible to remap topic names for the costmap subscribers.

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Future work that may be required in bullet points

The free functions might be moved to utils and used where other child nodes are created if the use-case arises.

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

[SteveMacenski]

@MarcoMatteoBassa please fix the failing CI jobs (DCO and linting it looks like). Also, did you test this using a namespace? You can do so with nav2_bringup with just the launch arg of namespace:=robotA for example just to make sure that all namespaces right still.

[SteveMacenski]

I fixed the linting but I can't do DCO for you. You can ignore the precommit failure, that's on a github workflow file that I already fixed as part of the Kilted release process

[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Files with missing lines	Coverage Δ
nav2_controller/src/controller_server.cpp	85.39% <100.00%> (ø)
...tmap_2d/include/nav2_costmap_2d/costmap_2d_ros.hpp	100.00% <ø> (ø)
nav2_costmap_2d/src/costmap_2d_ros.cpp	87.95% <100.00%> (+0.35%)	⬆️
nav2_planner/src/planner_server.cpp	92.70% <100.00%> (ø)

... and 5 files with indirect coverage changes

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• ❄️ Test Analytics: Detect flaky tests, report on failures, and find test suite problems.

[MarcoMatteoBassa]

Thanks! It would look like the namespace is correctly passed to the child nodes if added, yes Ex:

/hello_namespace/local_costmap/costmap
/hello_namespace/local_costmap/costmap_raw
/hello_namespace/local_costmap/costmap_raw_updates
/hello_namespace/local_costmap/costmap_updates
/hello_namespace/local_costmap/footprint
...

I passed the options to the global costmap from the planner server too for completeness.