basemap: Plotting frames if required parameters are not given

[seisman]

Description of proposed changes

When required parameters are not given, basemap should set frame=True by default.

Implement the feature request in #1665 (comment).

Fixes #1665.

Reminders

• Run make format and make check to make sure the code follows the style guide.
• Add tests for new features or tests that would have caught the bug that you're fixing.
• Add new public functions/methods/classes to doc/api/index.rst.
• Write detailed docstrings for all functions/methods.
• If wrapping a new module, open a 'Wrap new GMT module' issue and submit reasonably-sized PRs.
• If adding new functionality, add an example to docstrings or tutorials.

Slash Commands

You can write slash commands (/command) in the first line of a comment to perform
specific operations. Supported slash commands are:

• /format: automatically format and lint the code
• /test-gmt-dev: run full tests on the latest GMT development version

[github-actions]

Summary of changed images

This is an auto-generated report of images that have changed on the DVC remote

Status	Path
added	pygmt/tests/baseline/test_basemap_required_args.png

Image diff(s)

Added images

• pygmt/tests/baseline/test_basemap_required_args.png

Modified images

Path	Old	New

Report last updated at commit 8232f85

[michaelgrund]

Except the minor typo the PR looks good to me!