Fix SLAM parameter passing

[civerachb-cpr]

Description

Rewrite SLAM parameters using a RewrittenYaml object so that namespaces are applied correctly. This ensures that the slam_toolbox parameters (specifically scan_topic and map_name) show the fully-qualified topic names and eliminates the need for manual remaps in the GroupAction.

Fixes RPSW-2723.

Type of change

• Bug fix (non-breaking change which fixes an issue)
• New feature (non-breaking change which adds functionality)

How Has This Been Tested?

Tested in-house on cpr-april, a Turtlebot4 Lite.

To launch SLAM: ros2 launch turtlebot4_navigation slam.launch.py namespace:=/cpr_april

Verify parameters: ros2 dump /cpr_april/slam_toolbox:

/cpr_april/slam_toolbox:
  ros__parameters:
    /bond_disable_heartbeat_timeout: true
    angle_variance_penalty: 1.0
    base_frame: base_link
    ceres_dogleg_type: TRADITIONAL_DOGLEG
    ceres_linear_solver: SPARSE_NORMAL_CHOLESKY
    ceres_loss_function: None
    ceres_preconditioner: SCHUR_JACOBI
    ceres_trust_strategy: LEVENBERG_MARQUARDT
    coarse_angle_resolution: 0.0349
    coarse_search_angle_offset: 0.349
    correlation_search_space_dimension: 0.5
    correlation_search_space_resolution: 0.01
    correlation_search_space_smear_deviation: 0.1
    debug_logging: false
    distance_variance_penalty: 0.5
    do_loop_closing: true
    enable_interactive_mode: true
    fine_search_angle_offset: 0.00349
    interactive_mode: false
    link_match_minimum_response_fine: 0.1
    link_scan_maximum_distance: 1.5
    loop_match_maximum_variance_coarse: 3.0
    loop_match_minimum_chain_size: 10
    loop_match_minimum_response_coarse: 0.35
    loop_match_minimum_response_fine: 0.45
    loop_search_maximum_distance: 3.0
    loop_search_space_dimension: 8.0
    loop_search_space_resolution: 0.05
    loop_search_space_smear_deviation: 0.03
    map_file_name: ''
    map_frame: map
    map_name: /cpr_april/map
    map_start_at_dock: false
    map_start_pose: []
    map_update_interval: 1.0
    min_pass_through: 2
    minimum_angle_penalty: 0.9
    minimum_distance_penalty: 0.5
    minimum_time_interval: 0.5
    minimum_travel_distance: 0.1
    minimum_travel_heading: 0.1
    mode: mapping
    occupancy_threshold: 0.1
    odom_frame: odom
    paused_new_measurements: false
    paused_processing: false
    position_covariance_scale: 1.0
    qos_overrides:
      /cpr_april/tf:
        publisher:
          depth: 100
          durability: volatile
          history: keep_last
          reliability: reliable
    resolution: 0.05
    scan_buffer_maximum_scan_distance: 10.0
    scan_buffer_size: 10
    scan_queue_size: 1
    scan_topic: /cpr_april/scan
    solver_plugin: solver_plugins::CeresSolver
    stack_size_to_use: 40000000
    start_type_description_service: true
    tf_buffer_duration: 30.0
    throttle_scans: 1
    transform_publish_period: 0.02
    transform_timeout: 0.2
    use_lifecycle_manager: false
    use_map_saver: true
    use_response_expansion: true
    use_scan_barycenter: true
    use_scan_matching: true
    use_sim_time: false
    yaw_covariance_scale: 1.0

Checklist

• I have performed a self-review of my own code
• I have commented my code, particularly in hard-to-understand areas
• I have made corresponding changes to the documentation