chore(autoware_traffic_light_map_based_detector): modify docs

[MasatoSaeki]

Description

Modify README.

• modify explanation
• fix topic type
• add parameter

Related links

Parent Issue:

• Link

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[codecov]

Codecov Report

All modified and coverable lines are covered by tests ✅

Project coverage is 28.77%. Comparing base (c8e0040) to head (9da4b83).
Report is 48 commits behind head on main.

Additional details and impacted files

@@            Coverage Diff             @@
##             main    #9817      +/-   ##
==========================================
- Coverage   28.77%   28.77%   -0.01%     
==========================================
  Files        1457     1457              
  Lines      109219   109225       +6     
  Branches    42567    42570       +3     
==========================================
  Hits        31432    31432              
- Misses      74706    74712       +6     
  Partials     3081     3081              

Flag	Coverage Δ		*Carryforward flag
differential	0.00% <ø> (?)
differential-cuda	0.00% <ø> (?)
total	28.77% <ø> (ø)		Carriedforward from 787e809

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

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