Improve readability when printing type of classes in error messages (backport #469)

[mergify]

Description

Similar to ros2/launch#887, in a few places, error messages printed types in a verbose format like '<class 'str'>'. This PR simplifies that by displaying just the type name (e.g. 'str').

Did you use Generative AI?

No

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This is an automatic backport of pull request #469 done by [Mergify](https://mergify.com).

[mergify]

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Changes to be committed:
	modified:   launch_ros/launch_ros/parameter_descriptions.py

Unmerged paths:
  (use "git add <file>..." to mark resolution)
	both modified:   launch_ros/launch_ros/utilities/evaluate_parameters.py

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