Use generate_parameter_library to load KDL kinematics parameters

[Abishalini]

Description

Use generate_parameter_library to load KDL kinematics parameters

How to assign the KDL parameters in kinematics.yaml file

panda_arm:
  kinematics_solver: "kdl_kinematics_plugin/KDLKinematicsPlugin"
  kinematics_solver_search_resolution: 0.005
  kinematics_solver_timeout: 0.05

  joints: ["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"]
  # Default weight for joints is 1.0 
  joint1:
    weight: 2.0
  joint5:
    weight: 1.5

  max_solver_iterations: 200
  epsilon: 0.0001
  orientation_vs_position: 0.2
  position_only_ik: false

TODO:

• Figure out if any parameters can be removed - Retain all
• Is there a better way to assign joint weights? - The above method works fine

Checklist

• Required by CI: Code is auto formatted using clang-format
• Extend the tutorials / documentation reference
• Document API changes relevant to the user in the MIGRATION.md notes
• Create tests, which fail without this PR reference
• Include a screenshot if changing a GUI
• While waiting for someone to review your request, please help review another open pull request to support the maintainers

[codecov]

Codecov Report

Base: 51.07% // Head: 51.08% // Increases project coverage by +0.01% 🎉

Coverage data is based on head (a641dd7) compared to base (9ee6623).
Patch coverage: 66.67% of modified lines in pull request are covered.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1671      +/-   ##
==========================================
+ Coverage   51.07%   51.08%   +0.01%     
==========================================
  Files         381      381              
  Lines       31743    31727      -16     
==========================================
- Hits        16208    16203       -5     
+ Misses      15535    15524      -11     

Impacted Files	Coverage Δ
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	78.79% <66.67%> (+2.72%)	⬆️

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[mergify]

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