Refactor MoveIt Simple Controller Manager to use generate param library

[Abishalini]

Description

Also resolves #2390

generate_parameter_library currently doesn't support nested maps in the YAML - https://github.com/PickNikRobotics/generate_parameter_library/issues/151 So I haven't implemented the goal_tolerance and path_tolerance parameters in this PR. But we can now set the goal_time_tolerance in the YAML file for follow_joint_trajectory_controller.

I will add a TODO/open another issue to implement the nested map parameters (unless I figure out a way to avoid nested maps)

[codecov[bot]]

Codecov Report

All modified and coverable lines are covered by tests :white_check_mark:

Project coverage is 50.78%. Comparing base (d962501) to head (edaaac1). Report is 34 commits behind head on main.

:exclamation: Current head edaaac1 differs from pull request most recent head 0192336. Consider uploading reports for the commit 0192336 to get more accurate results

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #2580      +/-   ##
==========================================
+ Coverage   50.74%   50.78%   +0.04%     
==========================================
  Files         392      388       -4     
  Lines       32553    32358     -195     
==========================================
- Hits        16517    16430      -87     
+ Misses      16036    15928     -108     

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[mergify[bot]]

This pull request is in conflict. Could you fix it @Abishalini?

[github-actions[bot]]

This PR is stale because it has been open for 45 days with no activity. Please tag a maintainer for help on completing this PR, or close it if you think it has become obsolete.

[TomCC7]

Seems like this PR resolves the issue of nested map parameters