fix: Move SmootherParams declaration outside smooth_path conditional

[SteveMacenski]

Fixes crash when dynamically changing smooth_path parameter from false to true.

The issue occurred because SmootherParams were only declared when smooth_path was initially true, causing ParameterModifiedInCallbackException when trying to declare parameters within the dynamic parameter callback.

Now SmootherParams are always declared, making them available for dynamic reconfiguration regardless of the initial smooth_path value.

Fixes #5472

Generated with Claude Code

[SteveMacenski]

@claude backport this change to jazzy and kilted branches

[claude]

Claude finished @SteveMacenski's task —— View job

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Backporting PR #5473 to jazzy and kilted branches

I analyzed PR #5473 and understand exactly what needs to be backported. However, I need the Bash tool to access different branches.

Current Status

• ✅ Analyzed the fix: PR fix: Move SmootherParams declaration outside smooth_path conditional #5473 moves SmootherParams declaration outside conditional blocks
• ✅ Located the changes: Found the exact pattern in both files on main branch
• ❌ Need Bash access: Cannot switch branches or create backport branches without --allowedTools=Bash

Manual Alternative

If you can't grant Bash access, here's what needs to be done manually:

For jazzy branch:

1. Create branch: git checkout -b claude/backport-5473-jazzy origin/jazzy
2. In nav2_smac_planner/src/smac_planner_hybrid.cpp, move these lines outside the if (smooth_path) conditional:

   SmootherParams params;
   params.get(node, name);

3. Same change in nav2_smac_planner/src/smac_planner_lattice.cpp

For kilted branch:

Same process with git checkout -b claude/backport-5473-kilted origin/kilted

Next Steps

Grant me --allowedTools=Bash and I'll complete both backports with proper PR links, or apply the changes manually using the guidance above.