hyperion should honour the ROI mode specified in the LoadCentreCollect parameters instead of overwriting it with hard coded values

A brief description of the issue, including specific stakeholders and the business case where appropriate

## Acceptance Criteria
- Hyperion honours `use_roi_mode` in `robot_load_then_centre` in LoadCentreCollect parameters, instead of ignoring it
- Hyperion supervisor specifies `use_roi_mode` as false in the parameters instead of true in `robot_load_then_centre` (but keeping it as true in the rotations
- The hard-coded defaults are only used if the value is not specified