Migrate general output msg type of each module from velocity/steering factor to planing factor

[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

The velocity/steering factor in autoware_adapi_v1_msgs is not enough to use it in debugging and devops, so we need to define new msg type which can enhance post analysis.

New msg type has been definded in tier4/tier4_autoware_msgs#155.

Purpose

The purpose of this task is extending information of each module output to enhance debugging and devops.

Possible approaches

Migrate general output msg type of each module from velocity/steering factor to planing factor.

Definition of done

• Create interface to output planning factor. (feat(motion_utils): add planning factor interface #9676)
• Integrate planning factor interface to each module. (feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor #9927)
• Remove velocity/steering factor from each module. (feat(planning_factor)!: remove velocity_factor, steering_factor and introduce planning_factor #9927)