Add sbpl yaml default parameters

params/global_planner/sbpl_params.yaml

 base_global_planner: "SBPLLatticePlanner"
 SBPLLatticePlanner:
+  planner_type: "ADPlanner"
+  allocated_time: 10
+  initial_epsilon: 3.0
+  environment_type: "XYThetaLattice"
+  forward_search: false
+  force_scratch_limit: 500
+  nominalvel_mpersecs: 0.4
+  timetoturn45degsinplace_secs: 0.6
+  lethal_obstacle: 255