PPeltzer

Prototype/Request: Dynamic parameters in CppAD cost functions

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This PR results from a conversation I had with Michael Neunert back in May via the CT Devs mail group. Sorry for the delay, I finally found the time to...

Recent versions of PyYAML break dynamic_reconfigure_load

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There seems to be recent API changes in [PyYAML](https://pypi.org/project/PyYAML/) (either starting at 5.3.1 or 5.4) which will cause `dynamic_reconfigure_load` to crash on Ubuntu 20.04 with ROS noetic. Given this example...