refactor: Replace .launch path parameters to .yaml ones

Signed-off-by: Motsu-san <masahiro.sakamoto@tier4.jp>

Author: Motsu-san

map/util/lanelet2_map_preprocessor/config/transform_maps.param.yaml

@@ -1,5 +1,9 @@
 /**:
   ros__parameters:
+    llt_map_path: $(var llt_map_path)
+    pcd_map_path: $(var pcd_map_path)
+    llt_output_path: $(var llt_output_path)
+    pcd_output_path: $(var pcd_output_path)
     x: 0.0
     y: 0.0
     z: 0.0

map/util/lanelet2_map_preprocessor/launch/transform_maps.launch.xml

@@ -1,16 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <launch>
-  <arg name="llt_map_path" default=""/>
-  <arg name="pcd_map_path" default=""/>
-  <arg name="llt_output_path" default=""/>
-  <arg name="pcd_output_path" default=""/>
-  <arg name="param_file" default="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml"/>
-
   <node pkg="lanelet2_map_preprocessor" exec="transform_maps" name="transform_maps" output="screen">
-    <param name="llt_map_path" value="$(var llt_map_path)"/>
-    <param name="pcd_map_path" value="$(var pcd_map_path)"/>
-    <param name="llt_output_path" value="$(var llt_output_path)"/>
-    <param name="pcd_output_path" value="$(var pcd_output_path)"/>
-    <param from="$(var param_file)"/>
+    <param from="$(find-pkg-share lanelet2_map_preprocessor)/config/transform_maps.param.yaml" allow_substs="true"/>
   </node>
 </launch>