For $197? Why not send a check and close out the case.

The U.S. shares a lot of information with Canada for purposes of immigration. Whether your warrant will be among that information isn't something we can tell you. I doubt that Canada is going to exclude somebody over an unpaid parking ticket, but that's something you're going to need to address with a Canadian immigration lawyer or Canadian legal resource.

I have never seen an interstate warrant from a parking ticket, so I doubt that you're going to be detained anywhere but Pennsylvania (and even there, the warrant may have a limited pickup radius). But seriously, pay the fine, put it behind you.