Use the new declare_or_get_parameter API for nav2_navfn_planner (#5681)

* Use the new declare_or_get_parameter API for nav2_navfn_planner

Signed-off-by: Lee Hoin <[email protected]>

* Removed using nav2::declare_parameter_if_not_declared from navfn_planner.cpp

Signed-off-by: Lee Hoin <[email protected]>

---------

Signed-off-by: Lee Hoin <[email protected]>

Author: Hobanghann

nav2_navfn_planner/src/navfn_planner.cpp

@@ -40,7 +40,6 @@
 
 using namespace std::chrono_literals;
 using namespace std::chrono;  // NOLINT
-using nav2::declare_parameter_if_not_declared;
 using rcl_interfaces::msg::ParameterType;
 using std::placeholders::_1;
 
@@ -81,15 +80,11 @@ NavfnPlanner::configure(
 
   // Initialize parameters
   // Declare this plugin's parameters
-  declare_parameter_if_not_declared(node, name + ".tolerance", rclcpp::ParameterValue(0.5));
-  node->get_parameter(name + ".tolerance", tolerance_);
-  declare_parameter_if_not_declared(node, name + ".use_astar", rclcpp::ParameterValue(false));
-  node->get_parameter(name + ".use_astar", use_astar_);
-  declare_parameter_if_not_declared(node, name + ".allow_unknown", rclcpp::ParameterValue(true));
-  node->get_parameter(name + ".allow_unknown", allow_unknown_);
-  declare_parameter_if_not_declared(
-    node, name + ".use_final_approach_orientation", rclcpp::ParameterValue(false));
-  node->get_parameter(name + ".use_final_approach_orientation", use_final_approach_orientation_);
+  tolerance_ = node->declare_or_get_parameter(name + ".tolerance", 0.5);
+  use_astar_ = node->declare_or_get_parameter(name + ".use_astar", false);
+  allow_unknown_ = node->declare_or_get_parameter(name + ".allow_unknown", true);
+  use_final_approach_orientation_ = node->declare_or_get_parameter(name +
+    ".use_final_approach_orientation", false);
 
   // Create a planner based on the new costmap size
   planner_ = std::make_unique<NavFn>(