use NodeParameterInterface instead of /parameter_event to update "use…

[fujitatomoya]

…_sim_time"

address #2370

[fujitatomoya]

using NodeParameterInterface instead of /parameter_event provides significant efficiency especially ROS 2 system has many nodes in the network. with this fix, we do not need to receive all the events and filter the node and use_sim_time parameter from /parameter_event topic.

[fujitatomoya]

this recursion guard is block this PR work.

rclcpp/rclcpp/include/rclcpp/node_interfaces/node_parameters.hpp

Lines 58 to 80 in 26f6efa

	// Internal RAII-style guard for mutation recursion
	class ParameterMutationRecursionGuard
	{
	public:
	explicit ParameterMutationRecursionGuard(bool & allow_mod)
	: allow_modification_(allow_mod)
	{
	if (!allow_modification_) {
	throw rclcpp::exceptions::ParameterModifiedInCallbackException(
	"cannot set or declare a parameter, or change the callback from within set callback");
	}
	allow_modification_ = false;
	}
	~ParameterMutationRecursionGuard()
	{
	allow_modification_ = true;
	}
	private:
	bool & allow_modification_;
	};

i guess this is not only for this PR's blocker, but also when we create either publisher or subscription with overriding the QoS parameters enabled via parameter callback. i guess it is something user would do when the specific parameter is enabled, and then create the subscription with QoS override. this will be generating rclcpp::exceptions::ParameterModifiedInCallbackException because it eventually call rclcpp::detail::declare_qos_parameters.

i will submit the issue to open this discussion.

[fujitatomoya]

CC: @Barry-Xu-2018 @iuhilnehc-ynos