feat(behavior_velocity): support new traffic signal interface

[tkimura4]

Description

autowarefoundation#4133
Hotfix to beta/v0.10.0

In this Pull Request, we are introducing support for the new traffic signal messages within the planning modules.
For more detailed information about the new messages, please refer to the associated issue linked below.
autowarefoundation#2567

Related links

#677

Tests performed

Tested on a simple planning simulator.

Notes for reviewers

For the traffic light module, I have removed the old messages and variables previously used to manage inputs from either Perception or External sources, given that the External input is no longer used.
Moreover, since the input Traffic Signal message, processed by traffic_signal_arbiter, already contains the selected data (either the signal with the highest confidence or the input from the V2X source), I have also removed the process to find the signal with the highest confidence.

Interface changes

As mentioned above, Planning modules will support only new interface.
The interface change for perception modules was done in this PR.
autowarefoundation#4084

Effects on system behavior

no effects

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[1222-takeshi]

LGTM

[tkimura4]

Rvizと型的につながっていることを確認.