[#265] add transform of obstacle in recordreplay_planner_node

Description

• For more details, see the issue which will be linked below. A small part of #265 (closed).

• It does not implement publishing of the trajectory on a different frame.
• It does implement tf_listener and transforming of obstacle BondingBoxArray to the operating frame.

Notes for Reviewer

• need to merge !363 (merged) and rebase (will not build without it)
• Infrastructure setup for tf like tf_listener and tf_buffer, would help to transform trajectory as well, at a later phase, to close #265 (closed).
• For Trajectory transform, tf2 functions for the data type should be done in tf2_autoware_auto_msgs.h of new package autoware_auto_tf2, added in !363 (merged).

Checklist

• Documentation was updated