Allow parameter changes while keeping defaults (#146)

* Made tree_kwargs changeable while keeping defaults

* Don't restrict parameter updates to tree_kwargs

* Change action_server_params to dict

* Remove WatchdogLsitener params from default

* Make sequences stored as lists by convention

* Addressed PR comment

* Addressed PR comments

Author: amalnanavati

.pylintrc

@@ -212,6 +212,7 @@ good-names=a,
            ax,
            ex,
            hz,
+           kw,
            ns,
            Run,
            _

ada_feeding/ada_feeding/trees/move_to_mouth_tree.py

@@ -9,8 +9,9 @@
 # that they have similar code.
 
 # Standard imports
+from collections.abc import Sequence
 import os
-from typing import Tuple
+from typing import Annotated, Tuple
 
 # Third-party imports
 from ament_index_python.packages import get_package_share_directory
@@ -76,6 +77,8 @@ class MoveToMouthTree(MoveToTree):
     # pylint: disable=too-many-instance-attributes, too-many-arguments
     # Bite transfer is a big part of the robot's behavior, so it makes
     # sense that it has lots of attributes/arguments.
+    # pylint: disable=dangerous-default-value
+    # plan_distance_from_mouth must be a list because ROS params only supports lists.
 
     def __init__(
         self,
@@ -90,7 +93,7 @@ def __init__(
         allowed_face_distance: Tuple[float, float] = (0.4, 1.25),
         face_detection_msg_timeout: float = 5.0,
         face_detection_timeout: float = 2.5,
-        plan_distance_from_mouth: Tuple[float, float, float] = (0.025, 0.0, -0.01),
+        plan_distance_from_mouth: Annotated[Sequence[float], 3] = [0.025, 0.0, -0.01],
         fork_target_orientation_from_mouth: Tuple[float, float, float, float] = (
             0.5,
             -0.5,

ada_feeding/config/ada_feeding_action_servers.yaml

@@ -0,0 +1,6 @@
+# This file is auto-generated by create_action_servers.py
+ada_feeding_action_servers:
+  ros__parameters:
+    current:
+      overridden_parameters:
+      - ""