Eliminating autoware.universe dependencies in the universe/external repositories

[youtalk]

I discovered that the repositories under the universe/external directory in autoware.repos have mutual dependencies on the autoware.universe packages. When there are mutual dependencies, rebuilding occurs more frequently, and package management cannot be performed independently.

#5853 (comment)

#96 [universe-localization-mapping-devel rosdep-depend 23/25] RUN /autoware/resolve_rosdep_keys.sh /autoware/src humble > /rosdep-universe-external-depend-packages.txt && cat /rosdep-universe-external-depend-packages.txt
#96 0.494 ERROR: no rosdep rule for 'autoware_component_interface_specs_universe'
#96 0.494 ERROR: no rosdep rule for 'autoware_tensorrt_common'
#96 0.494 ERROR: no rosdep rule for 'autoware_adapi_specs'
#96 0.494 ERROR: no rosdep rule for 'autoware_component_interface_utils'
#96 0.494 ERROR: no rosdep rule for 'tier4_api_utils'
#96 0.494 ERROR: no rosdep rule for 'autoware_cuda_utils'

Previously, with everyone’s cooperation, we almost resolved the issue where the autoware.universe/common packages ware not functioning as a truly shared library. autowarefoundation/autoware_universe#8695
This new issue is an extension of that.

To make autoware.universe easier to maintain, the following approach should generally be appropriate:

1. Highly dependent and stable packages should be moved to a separate repository.
2. Unstable packages with low dependency should be refactored in the external repositories side to remove the dependencies.
3. Unstable packages with high dependency should be moved to the autoware.universe repository.

[youtalk]

Partially fixed in #5881.

[xmfcx]

@youtalk Which specific packages would you wish to move in/out of the Autoware Universe repository?