refactor(raw_vehicle_cmd_converter): rework parameters

[PhoebeWu21]

Description

Implement the ROS Node configuration layout described in https://github.com/orgs/autowarefoundation/discussions/3371 for the raw_vehicle_cmd_converter package.

• Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.
• Create the schema

Tests performed

Package build and launch locally.
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release --packages-up-to raw_vehicle_cmd_converter

Effects on system behavior

More reliable and faster parameter configuration file creation.

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[PhoebeWu21]

@ambroise-arm @satoshi-ota Hi, the failure of json schema check seems because of the error schema setting in behavior_velocity_planner node

[satoshi-ota]

@PhoebeWu21 Thanks 👍
I created fix PR. Could you review it?
#5676

[satoshi-ota]

@PhoebeWu21 #5676 was merged.

[taikitanaka3]

looks good

[TakaHoribe]

LGTM. Thank you for your PR.

[codecov]

Codecov Report

Attention: 30 lines in your changes are missing coverage. Please review.

Comparison is base (765a596) 15.32% compared to head (7123df8) 10.52%.
Report is 88 commits behind head on main.

Files	Patch %	Lines
vehicle/raw_vehicle_cmd_converter/src/node.cpp	0.00%	25 Missing ⚠️
vehicle/external_cmd_converter/src/node.cpp	0.00%	5 Missing ⚠️

Additional details and impacted files

@@             Coverage Diff             @@
##             main    #5134       +/-   ##
===========================================
- Coverage   15.32%   10.52%    -4.81%     
===========================================
  Files        1721       14     -1707     
  Lines      118559     1416   -117143     
  Branches    37995      166    -37829     
===========================================
- Hits        18169      149    -18020     
+ Misses      79657     1126    -78531     
+ Partials    20733      141    -20592     

Flag	Coverage Δ
differential	10.52% <0.00%> (?)
total	?

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