refactor(obstacle_avoidance_planner ): rework parameters

[Ariiees]

Description

Implement the ROS Node configuration layout for the obstacle_avoidance_planner package.

Remove the default value from the source code in all declare_parameter() functions.
Create the JSON Schema for all parameters used in the declare_parameter() function.

Note: Nothing change in *.param.yaml file

Test performed

1. Build colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to obstacle_avoidance_planner --parallel-workers 5
2. Launch ros2 launch obstacle_avoidance_planner obstacle_avoidance_planner.launch.xml

Notes for reviewers

1. obstacle_avoidance_planner disappeared in the latest GitHub main branch.
2. There is a launch error in the original autoware.universe code. The updated version gets the same error.

Interface Changes

1. remove default values in mpt_optimizer.cpp 's declare_parameter()
2. Create according obstacle_avodiance_planner.schema.json
3. Update README.md

Effects on system behavior

None

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[Ariiees]

Node closed