add trajectory_planner_node_base class

Adds a base class for trajectory planner which does:

• receiving route from behavior planner
• request map to lanelet_map_provider
• return planned trajectory to behavior planner

This must be merged after these MRs:

• autoware_auto_msgs!9 (merged)

This must be merged before following MRs:

• !555 (merged)
• !616 (merged)