Parameter declaring / listening / getting should be done at the same lifetime as the Node object.

[tylerjw]

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Instead of passing the rclcpp::Node object into the constructors of various objects within MoveIt so they can declare and get parameters, those parameters should be declared and gotten at the same place that the rclcpp::Node is constructed and the struct that results from getting parameters should be passed into the classes to configure them.

This will improve the story for testing, separates concerns of whatever the object does from the ROS parameters, and reduce the places in MoveIt where parameters are declared, simplifying the code.

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This issue is being labeled as stale because it has been open 45 days with no activity. It will be automatically closed after another 45 days without follow-ups.