Slam yaml params

[marhcouto]

@DiogoProPrayer @Davide64-dev @yvesb04 @Flopes55

• check the way the configuration loading is done by the SLAMParameters structure instead of a static function in the node, which I think looks cleaner
• check the documentation on each parameter in the configuration files. There was documentation in the launch files, and it is fundamental at least for the string parameters
• @DiogoProPrayer there are duplicate parameter configuration structures in the path planning package, check that out

[sonarqubecloud]

Quality Gate passed

Issues
2 New issues
0 Accepted issues

Measures
0 Security Hotspots
0.0% Coverage on New Code
0.0% Duplication on New Code

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