Description
Is your feature request related to a problem? Please describe.
I noticed that in moveit2 and the ROS2 branches of moveit_resources, etc some of the yaml config files (e.g. here or here) are still using the ROS1 format (parameter name: value), while others (e.g. here) are using the ROS2 format (namespace -> node name -> ros__parameters --> parameter name / value).
As a result, loading parameters in a node using a python launch file requires the use of this load_yaml() function, as opposed to the more "ROS2-esque" approach of simply including the path to the yaml file in question as a Node parameter.
The latter would omit the need to define custom file loading functions in each launch file and would be more amenable to modularizing and generalizing launch files using LaunchArguments to specify config files rather than having them as hard-coded paths. It would also potentially make things easier for users to use only the ROS2 format (at the cost of making it slightly harder to migrate ROS1 configurations).
Describe the solution you'd like
It would be great to standardize all yaml config files using the ROS2 format. That said, I'm fairly new to Moveit2 and am not sure if there would be more involved than just changing the config files themselves to include ros__parameters.