My first question to anyone experiencing this sort of problem is how and when you are feeding him. Is he eating with the family at a dinner table, or are you setting him up in a high chair by himself at times other than when you are eating together as a family? Even if you are using the high chair at the table when the family eats, I would suggest taking off the tray and pushing the chair right up to the table so he feels more included.
Then, definitely get rid of the baby food! Cook good nutritious foods for the family that he can also eat. You may have to mash some things more for him or cut them into more easily handled pieces, but let him eat what you are eating. Of course there may be a few exceptions if you tend to eat some things that are too spicy or whatever, but have enough variety in your family meals that you don't have to cook special for him.
Put only small amounts of food on his plate at a time. My general rule of thumb at his age is one teaspoonful of each item. I know that sounds like an awfully small portion of food to set in front of him, but it's less overwhelming to him, creates less mess if he spills and you are there to add more helpings as he needs them.
Encourage him to eat without making a big issue of it. If he isn't eating, don't force him to, but have him definitely sit with you as long as any of the family is still eating. It might be good to institute a rule that, unless someone has an important reason to leave the table early, everyone sits until all are finished eating. By having him sit with you, but not forcing him to eat, and just going on with your own eating and family conversation (seeming to ignore his eating, but including him in the family talk if appropriate) you might just see him start to eat more without him even realizing what he's doing.
One other thing is do realize that even at age two, he may have some definite likes and dislikes in foods. Try to determine what those are and be sure that none of your meals ends up being all of his dislikes. If there is enough food that he does like and eats well, then you can try to encourage him to take a taste of the ones he isn't fond of, but let him eat what he likes otherwise. I always told my children that we have taste buds on our tongues and that those grow and change just as the rest of our bodies do. I explained that what their taste buds don't like today, they may like tommorrow (you notice, what the taste buds like, NOT what the child likes). Then I said "wouldn't it be a shame for you to go through your whole life missing out on eating something yummy, just because you didn't let your taste buds try it out every time you had a chance?"