Address API changes in `ros2param` package when using parameters checks and calls

[destogl]

This is the relevant issue for spawners and rqt_controller_manager

We should also address the following API changes in ros2param package:

• refactor: make ros2param use rclpy.parameter_client ros2/ros2cli#716
• https://github.com/ros2/rclpy/pull/945/files

This means, we should probably use service client from rclpy and not ros2param package. At least in some cases.

Originally posted by @destogl in #813 (comment)