Deprecate lookupParam function

[Abishalini]

Description

Remove the function once the following PRs are merged
#1671
#1673
#1674
#1675
#1677
#1680

Update - We have decided to deprecate it instead

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: 51.08% // Head: 51.07% // Decreases project coverage by -0.01% ⚠️

Coverage data is based on head (5158946) compared to base (d203273).
Patch has no changes to coverable lines.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #1681      +/-   ##
==========================================
- Coverage   51.08%   51.07%   -0.00%     
==========================================
  Files         381      381              
  Lines       31727    31727              
==========================================
- Hits        16203    16201       -2     
- Misses      15524    15526       +2     

Impacted Files	Coverage Δ
...e/include/moveit/kinematics_base/kinematics_base.h	76.32% <ø> (ø)
...dl_kinematics_plugin/src/kdl_kinematics_plugin.cpp	76.52% <0.00%> (-2.27%)	⬇️
...nning_scene_monitor/src/planning_scene_monitor.cpp	45.73% <0.00%> (+0.44%)	⬆️

Help us with your feedback. Take ten seconds to tell us how you rate us. Have a feature suggestion? Share it here.

☔ View full report at Codecov.
📢 Do you have feedback about the report comment? Let us know in this issue.