feat(map): port lanelet2_map_preprocessor from autoware.universe

[a-maumau]

Description

This PR will add map/autoware_lanelet2_map_utils which is a port of autoware.universe/map/util/lanelet2_map_preprocessor .

After this PR, the lanelet2_map_preprocessor in the autoware.universe will be get removed and only the link to this package remains.

Changes

• add autoware_lanelet2_map_utils
• add dependency autoware_lanelet2_extension to build_depends.repo

Related links

Tests performed

Notes for reviewers

Interface changes

Effects on system behavior

Pre-review checklist for the PR author

The PR author must check the checkboxes below when creating the PR.

• I've confirmed the contribution guidelines.
• The PR follows the pull request guidelines.

In-review checklist for the PR reviewers

The PR reviewers must check the checkboxes below before approval.

• The PR follows the pull request guidelines.
• The PR has been properly tested.
• The PR has been reviewed by the code owners.

Post-review checklist for the PR author

The PR author must check the checkboxes below before merging.

• There are no open discussions or they are tracked via tickets.
• The PR is ready for merge.

After all checkboxes are checked, anyone who has write access can merge the PR.

[a-maumau]

@YamatoAndo I applied your suggestions in 7b44197 and 2d22105 .

[a-maumau]

I change the tier to TIER for other files too.