feat(autoware_velocity_smoother): porting from universe to core

[liuXinGangChina]

We are porting autoware_velocity_smoother to autoware.core, this PR: resolve conflict due to replace of tier4 velocity msg with autoware-internal-planning-msg

PR Type

• Bug Fix

Related Links

Parent Issue: -- autowarefoundation/autoware_core#192

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[liuXinGangChina]

must be merged with autowarefoundation/autoware_universe#10184