feat: port autoware_behavior_velocity_planner_common from autoware.universe to autoware.core

[storrrrrrrrm]

Description

feat: port autoware_behavior_velocity_planner_common from autoware.universe to autoware.core

Related links

Parent Issue:

• Porting autoware_behavior_velocity_planner_common、autoware_behavior_velocity_stop_line_module to autoware.core #190

Must be merged after:

• feat(autoware_behavior_velocity_planner_common): replace autoware_universe_utils with autoware_utils autoware.universe#10154

How was this PR tested?

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

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[storrrrrrrrm]

ERROR: the following packages/stacks could not have their rosdep keys resolved
to system dependencies:
autoware_behavior_velocity_planner_common: Cannot locate rosdep definition for [autoware_velocity_smoother]

ci would pass after autoware_velocity_smoother ported.

[xmfcx]

• feat(autoware_behavior_velocity_planner_common): replace autoware_universe_utils with autoware_utils autoware.universe#10154 should be merged first in Universe side. Until that happens, will set this to draft.