feat(map_loader, route_handler)!: add format_version validation (#993)

feat(map_loader): add format_version validation

Signed-off-by: Mamoru Sobue <mamoru.sobue@tier4.jp>

Author: soblin

autoware_launch/config/map/lanelet2_map_loader.param.yaml

@@ -1,5 +1,6 @@
 /**:
   ros__parameters:
+    allow_unsupported_version: true             # flag to load unsupported format_version anyway. If true, just prints warning.
     center_line_resolution: 5.0                 # [m]
     use_waypoints: true                         # "centerline" in the Lanelet2 map will be used as a "waypoints" tag.
     lanelet2_map_path: $(var lanelet2_map_path) # The lanelet2 map path