Trajectory visualization

Description

• This MR implements a trajectory visualization plugin

Notes for Reviewer

Testing:

$ ade enter
ade$ cd AutowareAuto
ade$ colcon build --packages-up-to autoware_rviz_plugins
ade$ source install/setup.bash
ade$ rviz &
ade$ ros2 topic pub foo autoware_auto_msgs/Trajectory "{
  header: {stamp: {sec: 0, nanosec: 0}, frame_id: \"map\"},
  points: [
    {heading: {real: 1.0, imag: 0.0}, x: 0.0, y: 0.0, longitudinal_velocity_mps: 0.0},
    {heading: {real: 1.0, imag: 0.0}, x: 1.0, y: 0.0, longitudinal_velocity_mps: 1.0},
    {heading: {real: 0.707, imag: 0.707}, x: 2.0, y: 0.0, longitudinal_velocity_mps: 2.0},
    {heading: {real: 0.0, imag: 1.0}, x: 2.0, y: 1.0, longitudinal_velocity_mps: 3.0},
    {heading: {real: 0.0, imag: 1.0}, x: 1.0, y: 1.0, longitudinal_velocity_mps: 4.0}
  ]
}"

Expected result:

Checklist

• Documentation was updated

Close #274 (closed)