[#312] Transform for BoundingBoxArray

Description

Relates to #312 (closed)

• Created a new package autoware_auto_tf2 for tf2 related utilities.
• tf2_autoware_auto_msgs.h will hold any tf2 related functions for autoware_auto_msgs
• Added transform capability for autoware_auto_msgs::msg::BoundingBoxArray

Notes for Reviewer

Added tests and also tested with recordreplay_planner_node, where BoundingBoxArray was transformed for obstacle detection in the planner's frame. The usage is as simple as

void RecordReplayPlannerNode::on_bounding_box(const BoundingBoxArray::SharedPtr & msg)
{
  ...
  auto msg_tansformed = tf_buffer_->transform(*msg, m_odom_frame_id, timeout);
  m_planner->update_bounding_boxes(msg_tansformed);

Changes in recordreplay_planner_node, in a different MR !366 (merged)

Checklist

• Documentation was updated

/milestone %After AVP