refactor(topic_state_monitor): rework parameters

[karishma1911]

Description

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

1. Remove the default value from the source code in order to ensure all parameter values are passed from the parameter files.
2. create schema

Tests performed

Not applicable.

Effects on system behavior

Not applicable.

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[stale]

This pull request has been automatically marked as stale because it has not had recent activity.

[idorobotics]

@mitsudome-r please urgently review.

[xmfcx]

@karishma1911 could you rebase this to the latest main? To fix the CI.

Or click Allow edits and access to secrets by maintainers. For this PR. So we can do it for you.

[idorobotics]

@mitsudome-r could you urgently review this PR?