Currently, moveit_servo uses a template function declareOrGetParam for specifying and getting parameters. Here is the file where that is done: https://github.com/ros-planning/moveit2/blob/main/moveit_ros/moveit_servo/src/servo_parameters.cpp

I would like to use the ros2 parameter interfaces directly in order to specify descriptions and types of each parameter using the ParameterDescription. An example of that is here: https://github.com/tylerjw/parameter_tools/blob/parameter_set/parameter_set/src/example_node/robot_parameters.cpp

Note that I created a ParaeterDescriptionBuilder. Copy that into servo for now and eventually, we'll find a home for it.

Steps

• Define defaults for all parameters in servo_paramets.h in the struct
• Copy ParaeterDescriptionBuilder into servo
• Create a static declare servo_pareters.cpp that uses the built in ros2 interfaces for parameters
• Use NodeParametersInterface::SharedPtr in the builder function for ServoParameters instead of the Node directly
• Create a get function that reads the parameters into the struct fields
• Modify the builder function for ServoParameters to use the get and declare functions you created