Use crosswalk traffic light signal in behavior planning module

[satoshi-ota]

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

Now, autoware supports and uses only vehicle traffic light signals, but I think if perception module detected or estimated not only vehicle traffic light signals but also crosswalk traffic light signals, behavior planning module could make better decision. (e.g. crosswalk module)

So, in this task, I'll improve traffic light recognition module in order to get crosswalk traffic light singals.

Purpose

Purpose1: Improve traffic light recognition module in order to get crosswalk traffic light singals.
Purpose2: Use traffic light singal in crosswalk module.

Possible approaches

Purpose1:

• detect crosswalk traffic light signals directory as with vehicle traffic light signals. (long-term goal)
• estimate crosswalk traffic light signals from lanelet map and detected vehicle traffic light signals. (short-term goal)

Purpose2:

• use crosswalk traffic light signals in crosswalk module, and planner judges whether the pedestrians are crossing.

Definition of done

• create traffic_light_estimater in perception stack.
• update crosswalk module logic to use crosswalk traffic light signals.

[satoshi-ota]

Achived short-term goal in #944