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Looking into this further it seems that this bug is only featured in MoveIt2 when loading an srdf. Running this code in the launch file

robot_description_semantic_file = LaunchConfiguration("robot_description_semantic_file")
    robot_description_semantic = {"robot_description_semantic":Command(
        [
            PathJoinSubstitution([FindExecutable(name="xacro")]),
            " ",
            PathJoinSubstitution([FindPackageShare(package_name),
            "moveit2", robot_description_semantic_file]),
        ])}

And this later on;

move_group = Node(
            package="moveit_ros_move_group",
            executable="move_group",
            output="screen",
            parameters=[
                robot_description,
                robot_description_semantic,
                robot_description_kinematics,
                ompl_planning_pipeline_config,
                trajectory_execution,
                moveit_controllers,
                planning_scene_monitor_parameters,
            ],
        )

The error becomes

yaml.scanner.ScannerError: mapping values are not allowed here
  in "<unicode string>", line 11, column 13:
      <!--GROUPS: Representation of a set of joi ...

And the problem is fixed when you remove any ":" colon symbols from the file. It seems like it is a bug in MoveIt.