[Binary Filter] make it able to change boolean ros parameters

[enricosutera]

Hi, what about having the costmap binary filter (or a new one) capable of setting ros parameters along with publishing on a topic? Some possible use cases:

• enabling or disabling an obstacle layer source marking or clearing in a specific environment (e.g. infrared proximity sensors in a black environment)
• enabling or disabling full costmap layers (e.g. when going from indoor to pedestrian area).

I realize this can easily be done creating a third part node that subscribes to the currently available topic and modifies the parameter itself or directly having the callback in the node to which the parameter belongs. However I think this would be more flexible and decoupled to have all this is a configuration file!