refactor(mpc_lateral_controller): rework parameter

[prakash-kannaiah]

Description

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Implement the ROS Node configuration layout described in Autoware Foundation Discussion #3371 for the mpc_lateral_controller package.

• Remove duplication of parameter declaration between the source code and the parameter file.
• Remove the default value from the source code to ensure all parameter values are passed from the parameter files.
• Use types that match those returned from declare_parameter() to prevent confusion and potential coding errors.
• Move the default parameter file to a standardized location. Use the JSON Schema for that.

Tests performed

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No.

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