feat(autoware_velocity_smoother): porting from universe to core

[liuXinGangChina]

Description

We are porting autoware_velocity_smoother to autoware.core, this PR:

1. resolve the conflict when replace tire4 message
2. replace autoware_universe_utils with autowre_utils
3. resolve the conflict when complie the whole autoware
4. refactor readme according to migrate guide

Related links

Parent Issue: -- autowarefoundation/autoware.core#192

How was this PR tested?

check box selected means passed

• test with concol build "colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release" for all packages
• test with planning simulator

Notes for reviewers

None.

Interface changes

None.

Effects on system behavior

None.

[github-actions]

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[codecov]

Codecov Report

Attention: Patch coverage is 32.85714% with 47 lines in your changes missing coverage. Please review.

Project coverage is 26.84%. Comparing base (3718ac9) to head (f06dbae).

Files with missing lines	Patch %	Lines
planning/autoware_velocity_smoother/src/node.cpp	21.05%	15 Missing ⚠️
...utoware_overlay_rviz_plugin/src/signal_display.cpp	0.00%	8 Missing ⚠️
...utoware_velocity_smoother/src/trajectory_utils.cpp	55.55%	4 Missing ⚠️
...op_operator/mrm_comfortable_stop_operator_core.cpp	0.00%	4 Missing ⚠️
...r4_planning_rviz_plugin/src/tools/max_velocity.cpp	0.00%	3 Missing ⚠️
...anning/autoware_velocity_smoother/src/resample.cpp	0.00%	0 Missing and 2 partials ⚠️
...k_constrained_smoother/velocity_planning_utils.cpp	0.00%	2 Missing ⚠️
...e_velocity_smoother/src/smoother/smoother_base.cpp	60.00%	1 Missing and 1 partial ⚠️
...er4_state_rviz_plugin/src/autoware_state_panel.cpp	0.00%	2 Missing ⚠️
...or/src/remaining_distance_time_calculator_node.cpp	0.00%	1 Missing ⚠️
... and 4 more

Additional details and impacted files

@@           Coverage Diff           @@
##             main   #10184   +/-   ##
=======================================
  Coverage   26.83%   26.84%           
=======================================
  Files        1398     1400    +2     
  Lines      108028   108049   +21     
  Branches    41614    41612    -2     
=======================================
+ Hits        28993    29007   +14     
- Misses      76150    76154    +4     
- Partials     2885     2888    +3     

Flag	Coverage Δ		*Carryforward flag
differential	26.14% <32.85%> (?)
total	26.83% <ø> (-0.01%)	⬇️	Carriedforward from 3718ac9

*This pull request uses carry forward flags. Click here to find out more.

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[liuXinGangChina]

close this pr, and split it into two prs due to autowarefoundation/autoware.core#192 (comment)