Add path_planning_config.yaml for dynamic reconfigure

[val-ba]

Summary

We also want to add dynamic reconfigure to path planning.

Proposed changes

Implement https://github.com/PickNikRobotics/generate_parameter_library.

Related issues

Close #478

Checklist

• [x] Run colcon build
• [ ] Write documentation
• [x] Test on your machine
• [ ] Test on the robot
• [ ] Create issues for future work
• [x] Triage this PR and label it

[Flova]

TODO integrate the comment change from #482