Reconsider automatically_declare_parameters_from_overrides for all controllers

[destogl]

Long story-short: "I have a follow-up issue with this parameter"

Originally posted by @destogl in #504 (comment)

Long story:

I understand that we need this automatic declaration for JTC per-joint trajectory limits. And adding this parameter caused further fix in form of the auto_declare method because otherwise, the controllers are declaring parameters twice.

Now I have an issue when using external libraries which declare their parameters, like ros/filters library, especially filters chain structure. To get this working we would need to add an auto_declare throughout rclcpp. this leads me to the conclusion that the approach done in #504 is probably not the right one and we should reconsider it again.

[bmagyar]

Yeah but what do we do then? Can't filters work on a different "nodehandle/namespace"?

[destogl]

No, because they are not a node on their own. And it shouldn't be. I think that we don't have this issue if we properly declare parameters in the JTC. This was the source of this issue.

TBH the current solution is a bit dirty and hacky.

[bmagyar]

It seems we are alternating between two bad solutions. Is there a third one that's clean??

[destogl]

I don't think so. I am actually sure that the current approach is not correct for our library. This is OK if you have some simpler node without possiblity to extend it with many libraries. The old approach is right and we should simply declare those parameter explicity. As done here (ros-controls/ros2_controllers#225)

[livanov93]

I agree the current solution is not the cleanest, however in my understanding the solution that existed before was aiming towards current behavior (avoiding the need to explicitly declare every parameter for the controller's use). However, as @destogl says, incorporation of other packages that don't use 'auto_declare' could really be a problem here.
We can then remove automatically_declare_parameters_from_overrides flag in the controller interface here and do all declaration explicitly.
In the future we have to read rclcpp docs more carefully regarding parameter propagation here and here.

However auto_declare could be useful as node's auxiliary method which is more of a topic for ros2/rclcpp repository.

[destogl]

@livanov93 if you have some capacity, this would be great. I think that only JointTrajectoryController has these issues.

[livanov93]

@destogl I will address it soon and let hardcode the parameter declaration for jtc.