Remove unnecessary functions/files from autoware_universe_utils

[mitsudome-r]

Checklist

• I've read the contribution guidelines.
• I've searched other issues and no duplicate issues were found.
• I've agreed with the maintainers that I can plan this task.

Description

We have extracted many functions in autoware_universe_utils to autoware_utils package.

We should replace the functions in autoware with autoware_utils instead of autoware_universe_utils so that we can deprecate autoware_universe_utils.

Purpose

Make sure that we have single source to maintain core util functions used across Autoware.

Possible approaches

Replace each modules in autoware_universe_utils to autoware_universe, then deprecate the functions in autoware_universe_utils.

Definition of done

• remove dependencies in autoware_universe_utils in common
• remove dependencies to autoware_universe_utils in planning
• remove dependencies to autoware_universe_utils in perception
• remove dependencies to autoware_universe_utils in sensing
• remove dependencies to autoware_universe_utils in system
• remove dependencies to autoware_universe_utils in autoware_tools
• deprecate functions in autoware_universe_utils