Update new_declare_or_get_parameter API for collision_monitor and map_server

[leander-dsouza]

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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	N/A
Does this PR contain AI-generated software?	No
Was this PR description generated by AI software?	N/A

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Description of contribution in a few bullet points

• Added the missing definition of declare_or_get_parameter without the default value to the lifecycle node.
• Migrated the get_parameter and declare_parameter fields to use the new declare_or_get_parameter API for nav2_collision_monitor.
• Migrated the rclcpp::exceptions::ParameterUninitializedException to rclcpp::exceptions::InvalidParameterValueException to match the exception raised in declare_or_get_parameter if the default value is not set.
• Removed redundant set_parameter() calls when preceeded by declare_parameter.

Description of documentation updates required from your changes

• N/A

Description of how this change was tested

• Performed linting validation using pre-commit run --all and testing locally using colcon test

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Future work that may be required in bullet points

• N/A

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-*.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
nav2_collision_monitor/src/circle.cpp	94.33% <100.00%> (-0.11%)	⬇️
..._collision_monitor/src/collision_detector_node.cpp	97.22% <100.00%> (-0.33%)	⬇️
...2_collision_monitor/src/collision_monitor_node.cpp	96.96% <100.00%> (-0.27%)	⬇️
nav2_collision_monitor/src/pointcloud.cpp	79.66% <100.00%> (-2.16%)	⬇️
nav2_collision_monitor/src/polygon.cpp	96.99% <100.00%> (-0.31%)	⬇️
nav2_collision_monitor/src/polygon_source.cpp	94.73% <100.00%> (-0.10%)	⬇️
nav2_collision_monitor/src/range.cpp	94.87% <100.00%> (-0.13%)	⬇️
nav2_collision_monitor/src/source.cpp	98.14% <100.00%> (-0.16%)	⬇️
nav2_collision_monitor/src/velocity_polygon.cpp	96.55% <100.00%> (-0.75%)	⬇️
..._common/include/nav2_ros_common/lifecycle_node.hpp	92.30% <100.00%> (+0.17%)	⬆️

... and 11 files with indirect coverage changes

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[SteveMacenski]

Also, can use we a node->declare_or_get_parameter()API instead ofnav2::declare_or_get_parameter(node, ...)`? If that's not in the node wrapped capabilities, it might be good to add that.

Can you also expand on the test changes?

[leander-dsouza]

Also, can use we a node->declare_or_get_parameter()API instead ofnav2::declare_or_get_parameter(node, ...)`? If that's not in the node wrapped capabilities, it might be good to add that.

I have added the missing definition of declare_or_get_parameter without the default value to the lifecycle node.

Can you also expand on the test changes?

I have removed all set_parameter() calls that are preceded by calls to declare_parameter(), as these are redundant and are already set in declare_parameter(). In essence, the parameter is already set in the declare_parameter() call.

[SteveMacenski]

Generally LGTM!