Split autoware_utils into each feature.

[isamu-takagi]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

Currently, all of autoware_utils functionality is packed into one package, which creates dependencies that are unrelated to the desired functionality. This may increase build times and cause unnecessary rebuilds, so split packages by feature.

Purpose

Remove unnecessary dependencies.

Possible approaches

Create the following packages to move the features.

• autoware_utils_debug
  • ros/debug_publisher.hpp
  • ros/debug_traits.hpp
  • ros/processing_time_publisher.hpp
  • ros/published_time_publisher.hpp
  • system/time_keeper.hpp
• autoware_utils_diagnostics
  • ros/diagnostics_interface.hpp
• autoware_utils_geometry (*1)
  • geometry/**.hpp
  • ros/msg_covariance.hpp
  • ros/msg_operation.hpp
• autoware_utils_logging
  • ros/logger_level_configure.hpp
• autoware_utils_math
  • math/**.hpp
• autoware_utils_pcl
  • ros/managed_transform_buffer.hpp
  • ros/pcl_conversion.hpp
  • transform/transforms.hpp
• autoware_utils_rclcpp
  • ros/polling_subscriber.hpp
  • ros/parameter.hpp
  • ros/update_param.hpp
  • ros/wait_for_param.hpp
• autoware_utils_system
  • system/backtrace.hpp
  • system/lru_cache.hpp
  • system/stop_watch.hpp
• autoware_utils_tf
  • ros/self_pose_listener.hpp
  • ros/transform_listener.hpp
• autoware_utils_uuid
  • ros/uuid_helper.hpp
• autoware_utils_visualization
  • ros/marker_helper.hpp

(*1) Details of autoware_utils_geometry are currently under consideration.

• autoware_utils_geometry (core features)
• autoware_utils_geometry_planning (extension for planning_msgs)
• autoware_utils_geometry_eigen
• autoware_utils_geometry_boost

Definition of done

• feat(autoware_utils_debug): split package #44
• feat(autoware_utils_diagnostics): split package #45
• autoware_utils_geometry
• feat(autoware_utils_logging): split package #37
• feat(autoware_utils_math): split package #33
• feat(autoware_utils_pcl): split package #29
• feat(autoware_utils_rclcpp): split package #40
• feat(autoware_utils_system): split package #38
• autoware_utils_tf
  • feat(autoware_utils_tf): rename package #46
• feat(autoware_utils_uuid): split package #39
• feat(autoware_utils_visualization): split package #36