Feature request

Feature description

It would be useful to be able to use Service Introspection introduced in Jazzy with nav2 nodes (such as the costmap server). This requires some configuration for both the client and server, which is currently not enabled in nav2.

Implementation considerations

It has to be considered whether unconditionally enabling service introspection is a good idea. The tutorial in the ROS docs show how to introduce a parameter to enable or disable service introspection, it is unclear to me if it's expected to only turn this feature on during debugging, and if there are downsides to always enabling it.