Add parameter to decrease AMCL's laser confidence

[dimaxano]

One should have a chance to change param value on the fly and apply that change. Either via separate service or parameter_server

[artemiialessandrini]

Shall we introduce dynamic reconfiguring for AMCL? It's been stable in ROS2 for some time

[dimaxano]

Seems like one of the options
Do you maybe have some examples of ROS2 packages where it is implemented?

[artemiialessandrini]

ros-navigation#2932

[artemiialessandrini]

We have this PR :)
It looks cherry-pickable
I've been thinking about dynamically changing the laser model weights
If it won't work, dynamic reconfiguring will be useful for calibration

[dimaxano]

Very nice! I'll check it, but I have concern that it restarts everything. How robot will behave if we change params during the movement?

[artemiialessandrini]

The concept is to dynamically change parameters without unexpected behaviors, crashes or restarts.
Maybe there're some parameters we shouldn't tweak during the run just by definition.
But other than that it's ok :)

[dimaxano]

#26
#27