Prepare launch files for scenario_simulator

Description

#1368 (closed)

Notes for reviewer

According to the discussion with Open AD Kit, I have prepared the launch files which launch each modules separately.

How to test:

Launch Autoware modules by following commands:

• ros2 launch scenario_simulator_launch autoware_auto_mapping.launch.py map_path:=/path/to/map
• ros2 launch scenario_simulator_launch autoware_auto_perception.launch.py
• ros2 launch scenario_simulator_launch autoware_auto_planning.launch.py

Map directory should contain the following items:

• pointcloud file with extension 'pcd'
• origin information of the pcd file with extension 'pcd.yaml'
• parameters for ndt_map_publisher with extension 'map_publisher.yaml',
• lanelet2 map with extension 'osm',
• parameters for lanelet2_map provider with extension 'osm.yaml'

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