backport the fix for setting binary_state as the default

[olaghattas]

Basic Info

Info	Please fill out this column
Ticket(s) this addresses	Related to #5368
Primary OS tested on	Ubuntu
Robotic platform tested on	Hello Robot Stretch (hardware)
Does this PR contain AI generated software?	No
Was this PR description generated by AI software?	No

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Description of contribution in a few bullet points

Backporting the fix in #5370 to jazzy

For Maintainers:

• Check that any new parameters added are updated in docs.nav2.org
• Check that any significant change is added to the migration guide
• Check that any new features OR changes to existing behaviors are reflected in the tuning guide
• Check that any new functions have Doxygen added
• Check that any new features have test coverage
• Check that any new plugins is added to the plugins page
• If BT Node, Additionally: add to BT's XML index of nodes for groot, BT package's readme table, and BT library lists
• Should this be backported to current distributions? If so, tag with backport-*.

[mergify]

@olaghattas, all pull requests must be targeted towards the main development branch.
Once merged into main, it is possible to backport to @jazzy, but it must be in main
to have these changes reflected into new distributions.

[codecov]

Codecov Report

✅ All modified and coverable lines are covered by tests.

Files with missing lines	Coverage Δ
...stmap_2d/plugins/costmap_filters/binary_filter.cpp	94.73% <100.00%> (ø)

... and 1 file with indirect coverage changes

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