[FLINK-34353][table-planenr] Fix unclear exception without setting minibatch size when using minibatch join or agg

[xuyangzhong]

What is the purpose of the change

This pr to fix unclear exception without setting minibatch size when using minibatch join or agg.

The main change is to revert the exception thrown while checking illegal minibatch-size in pr https://github.com/apache/flink/pull/24161/files .

Brief change log

• Revert the logic to throw exception when meet negative minibatch size
• Add tests for minibatch join and minibatch agg

Verifying this change

Tests are added to verify it.

Does this pull request potentially affect one of the following parts:

• Dependencies (does it add or upgrade a dependency): no
• The public API, i.e., is any changed class annotated with @Public(Evolving): no
• The serializers: no
• The runtime per-record code paths (performance sensitive): no
• Anything that affects deployment or recovery: JobManager (and its components), Checkpointing, Kubernetes/Yarn, ZooKeeper: no
• The S3 file system connector: no

Documentation

• Does this pull request introduce a new feature? no
• If yes, how is the feature documented?

[flinkbot]

CI report:

• be6b01a Azure: SUCCESS

Bot commands

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• @flinkbot run azure re-run the last Azure build

[xishuaidelin]

LGTM！

[lsyldliu]

Sorry for forget approve, LGTM