add Lanelet2 option to decision_maker

Related Issues

This is a part of transition from Aisan vector map format to Lanelet2 format.
autoware#17 (closed)

Related Merge Requests

This MR should not be merged before core_planning!38 (merged).

Description

This feature adds Lanelet2 option to decision_maker in runtime manager.

Test Procedure

The function of the node should be tested in core_planning!38 (merged). Therefore, it is only required to test if correct node is launched from the GUI.

1. In sourced terminal, roslaunch runtime_manager runtime_manager.launch
2. Go to Computing tab, turn on Lanelet2 option from [app] in decision_maker, and launch node.
   
   
3. In terminal, run rosnode info /decision_maker, and confirm that the node is subscribing to lanelet_map_bin topic.

Node [/decision_maker]
Publications: 
 * /decision_maker/available_transition [std_msgs/String]
 * /decision_maker/operator_help_text [jsk_rviz_plugins/OverlayText]
 * /decision_maker/state [std_msgs/String]
 * /decision_maker/state_msg [autoware_msgs/State]
 * /decision_maker/state_overlay [jsk_rviz_plugins/OverlayText]
 * /decision_maker/stop_location [autoware_msgs/VehicleLocation]
 * /lamp_cmd [autoware_msgs/LampCmd]
 * /lane_waypoints_array [autoware_msgs/LaneArray]
 * /light_color_managed [autoware_msgs/TrafficLight]
 * /rosout [rosgraph_msgs/Log]
 * /state/stopline_wpidx [std_msgs/Int32]
 * /target_velocity_array [std_msgs/Float64MultiArray]

Subscriptions: 
 * /change_flag [unknown type]
 * /config/decision_maker [autoware_config_msgs/ConfigDecisionMaker]
 * /current_velocity [unknown type]
 * /lanelet_map_bin [unknown type]
 * /obstacle_waypoint [unknown type]
 * /state_cmd [unknown type]
 * /stopline_waypoint [unknown type]