As a robotics developer, I want to load my robot controller configurations from a YAML file so I can tune my robot parameters

[piraka9011]

Design Requirements

ROS2 does not have a parameter server per se, however, a node based parameter server can be implemented.
An initial implementation of the parameter server can be found in controller_parameter_server/include/controller_parameter_server/parameter_server.hpp

There is no interface though for the expected format of the YAML file.

• Parse and sanitize the YAML file to make sure the proper keys are passed in the config file:

<robot_name>:
  <controller_name>:
    type: <controller_type_name>
    joint: <joint_name>
    pid: <parameters_dict>

• Create a yamlcpp struct to parse the yaml file.
• Use rcpputils/filesystem_helper for file handling.
• Namespace the parameters in the yaml file.