refactor(behavior_path_planner): delete default values

[yamazakiTasuku]

Description

Removed default values defined in declare_parameter function.
Also, some additional parameters are needed.

⬇️ This PR must be merged before this PR.
autowarefoundation/autoware_launch#272

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.10 ⚠️

Comparison is base (afb55c3) 13.25% compared to head (fe8d0b6) 13.16%.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #3236      +/-   ##
==========================================
- Coverage   13.25%   13.16%   -0.10%     
==========================================
  Files        1264     1267       +3     
  Lines       89359    90009     +650     
  Branches    27199    27529     +330     
==========================================
  Hits        11846    11846              
- Misses      64985    65634     +649     
- Partials    12528    12529       +1     

Flag	Coverage Δ		*Carryforward flag
differential	5.24% <0.00%> (?)
total	13.27% <ø> (+0.01%)	⬆️	Carriedforward from afb55c3

*This pull request uses carry forward flags. Click here to find out more.

Impacted Files	Coverage Δ
...ils/include/motion_utils/trajectory/trajectory.hpp	73.99% <ø> (ø)
...tion_utils/test/src/trajectory/test_trajectory.cpp	25.16% <ø> (ø)
...havior_path_planner/behavior_path_planner_node.hpp	0.00% <ø> (ø)
...th_planner/scene_module/avoidance_by_lc/module.hpp	0.00% <0.00%> (ø)
..._path_planner/util/avoidance_by_lc/module_data.hpp	0.00% <0.00%> (ø)
...lanner/include/behavior_path_planner/utilities.hpp	83.33% <ø> (ø)
...or_path_planner/src/behavior_path_planner_node.cpp	0.12% <0.00%> (-0.01%)	⬇️
...er/src/scene_module/avoidance/avoidance_module.cpp	0.00% <0.00%> (ø)
...lanner/src/scene_module/avoidance_by_lc/module.cpp	0.00% <0.00%> (ø)
...ath_planner/src/util/path_shifter/path_shifter.cpp	0.00% <0.00%> (ø)
... and 3 more

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[satoshi-ota]

I confirmed that this module works well in Psim. LGTM.