Refactor parameter interface for plugins (#1808)

* Add utility function to get plugin type param and refactor controller params

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Exit when plugin param is not provided

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Minor fix

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Remove defaults

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix uncrustify error

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Default to DWB

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Add tests

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Refactor planner server plugin param

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Refactor recovery server plugin param

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Refactor costmap plugin param

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update bringup parmas

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update parameter list in docs

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Rename plugins parameter

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update parameter list and fix defaults in costmap node

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Declare default .plugin params only when plugin name parameter is default

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update parameter list

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Update nav2_recoveries/src/recovery_server.cpp

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>

* Update params.md

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

* Fix uncrustify errors

Signed-off-by: Sarthak Mittal <sarthakmittal2608@gmail.com>

Co-authored-by: Steve Macenski <stevenmacenski@gmail.com>