Use generate_parameter_library to load srv kinematics parameters

[Abishalini]

Description

Use generate_parameter_library to load srv kinematics parameters

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: 51.07% // No change to project coverage 👍

Coverage data is based on head (6c6f024) compared to base (bd9a9e8).
Patch has no changes to coverable lines.

Additional details and impacted files

@@           Coverage Diff           @@
##             main    #1674   +/-   ##
=======================================
  Coverage   51.07%   51.07%           
=======================================
  Files         381      381           
  Lines       31743    31743           
=======================================
  Hits        16208    16208           
  Misses      15535    15535           

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