refactor(start_planner): refactor debug parameters

This commit removes the `verbose` parameter under `start_planner` and introduces a new `debug` section. The newly added `debug` section includes a `print_debug_info` parameter, set to false by default. This change provides a more structured way to handle debugging configurations for the start planner.

Signed-off-by: kyoichi-sugahara <[email protected]>

autoware_launch/config/planning/scenario_planning/lane_driving/behavior_planning/behavior_path_planner/start_planner/start_planner.param.yaml

@@ -2,8 +2,6 @@
   ros__parameters:
     start_planner:
 
-      verbose: false
-
       th_arrived_distance: 1.0
       th_stopped_velocity: 0.01
       th_stopped_time: 1.0
@@ -140,3 +138,7 @@
           # temporary
           backward_path_length: 30.0
           forward_path_length: 100.0
+
+      # debug
+      debug:
+        print_debug_info: false