refactor(intersection): use getOrDeclareParameter

[TakaHoribe]

Description

use tier4_autoware_utils::getOrDeclareParameter for the ros parameter to prevent duplicate parameter declaration.

Tests performed

Run psim

Effects on system behavior

None

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[codecov]

Codecov Report

Patch coverage has no change and project coverage change: -0.01% ⚠️

Comparison is base (e897b19) 15.11% compared to head (de16124) 15.11%.
Report is 9 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #4767      +/-   ##
==========================================
- Coverage   15.11%   15.11%   -0.01%     
==========================================
  Files        1568     1568              
  Lines      108122   108104      -18     
  Branches    33164    33158       -6     
==========================================
- Hits        16346    16342       -4     
+ Misses      73995    73978      -17     
- Partials    17781    17784       +3     

Flag	Coverage Δ		*Carryforward flag
differential	7.06% <0.00%> (?)
total	15.12% <ø> (+<0.01%)	⬆️	Carriedforward from e897b19

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

Files Changed	Coverage Δ
...clude/behavior_path_planner/marker_utils/utils.hpp	0.00% <ø> (ø)
...ath_planner/src/marker_utils/lane_change/debug.cpp	0.00% <ø> (ø)
...planner/src/scene_module/lane_change/interface.cpp	6.41% <ø> (+0.08%)	⬆️
...th_planner/src/scene_module/lane_change/normal.cpp	4.04% <ø> (+0.04%)	⬆️
...ner/src/utils/path_safety_checker/safety_check.cpp	29.13% <ø> (-1.47%)	⬇️
...avior_velocity_intersection_module/src/manager.cpp	18.86% <0.00%> (-0.28%)	⬇️

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