[Bug] movement_orchestrator does not set / read params from its params file

[codeluz]

Current Behavior

When running the movement orchestrator, comments suggest params of a yaml file are used:

# Initialize parameters set in ../paraparams.yamlms/arlab_navigation_
self.declare_parameter("map_path", "/workspace/src/arlab/code/arlab_movement/map/my_map")
self.declare_parameter("use_timestamp", False)
[...]
self.map_path = str(self.get_parameter("map_path").value)
self.use_timestamp = bool(self.get_parameter("use_timestamp").value)
[...]

However, the file is never provided / read.
You have to use:
ros2 run arlab_movement movement_orchestrator --ros-args --params <params file path>

Expected Behavior

Parameters from the file arlab_navigation_params.yaml are used and set in movement orchestrator.

Steps to Reproduce

ros2 run arlab_movement movement_orchestrator

Definition of Completion

Write a small launch file, making sure param file is used and params are set.

Testability

Launch movement_orchestrator.

• set example param (eg. save_to_database)
• send Action goal map_save
• check if param save_to_database is set and orchestrator saves to database (see Action response)

Code Dependencies

No response